System Manual: Moviaxis Multi-Axis Servo Inverter

Drive Technology \ Drive Automation \ System Integration \ Services
System Manual
MOVIAXIS® Multi-Axis Servo Inverter
Edition 09/2013 20062540 / EN

SEW-EURODRIVE—Driving the world
Contents
Contents
1 System description ............................................................................................. 7
1.1 Overview of MOVIAXIS® system components............................................ 7
1.2 Additional system and automation components ....................................... 10
1.3 Benefits and key features of MOVIAXIS® ................................................. 11
1.4 Areas of application and automation options with MOVIAXIS® ................ 30
1.5 Option cards providing more functions and flexibility for axis
modules and supply and regenerative modules ....................................... 37
1.6 Installation variants, combination and communication options ................. 44
1.7 Installation and connection accessories ................................................... 63
1.8 Technology and unit functions ................................................................. 68
1.9 Functional safety / safety functions........................................................... 88
1.10 MOVITOOLS® MotionStudio engineering software .................................. 92
1.11 "SEW WORKBENCH" project planning software...................................... 95
2 Technical data ................................................................................................... 98
2.1 CE marking and UL approval .................................................................... 98
2.2 Type designation.................................................................................... 100
2.3 General technical data ............................................................................ 103
2.4 Rear view of housing and bore patterns ................................................. 104
2.5 Technical data of the modules ................................................................ 106
2.6 Technical data of option cards for axis modules and regenerative
modules .................................................................................................. 132
2.7 System accessories ................................................................................ 141
3 Power cables for synchronous servomotors ............................................... 165
3.1 Structure of the motor cable and brakemotor cables .............................. 165
3.2 Power cables for CMP, CMDV, and CMS50/63 motors.......................... 168
3.3 Power cables for CFM and CMS71 motors ............................................ 175
3.4 Power cables for SL2 linear motors ........................................................ 180
3.5 Cable specification of power cables........................................................ 183
3.6 Forced cooling fan cable for CMP and CFM motors ............................... 186
4 Power cables for asynchronous motors....................................................... 188
4.1 Description of power cables for DR motors ............................................ 188
4.2 Cables for DR and DRL motors .............................................................. 189
5 Encoder cables................................................................................................ 191
5.1 Structure of encoder cables for synchronous motors ............................. 191
5.2 Encoder and extension cables for synchronous motors ......................... 194
5.3 Structure of encoder cables for asynchronous motors ........................... 203
5.4 Encoder and extension cables for asynchronous motors ....................... 205
5.5 Cable specification of encoder cables .................................................... 215
6 Suitable motors ............................................................................................... 217
6.1 Synchronous servomotors ...................................................................... 217
6.2 Asynchronous servomotors .................................................................... 222
6.3 Non-SEW motors .................................................................................... 224
System Manual – MOVIAXIS® Multi-Axis Servo Inverter 3

Contents
7 Additional system components ..................................................................... 225

7.1 Suitable encoder systems....................................................................... 225
7.2 Gear units from SEW-EURODRIVE ....................................................... 228
7.3 MOVI-PLC®, MOVI-PLC® I/O ................................................................. 229
8 Appendix.......................................................................................................... 231
8.1 Additional documentation from SEW-EURODRIVE................................ 231
8.2 Disposal of MOVIAXIS® units ................................................................. 231
9 Parameter description .................................................................................... 232
9.1 Parameter description for display values ................................................ 232
9.2 Parameter description of drive data ........................................................ 250
9.3 Communication parameter description ................................................... 300
9.4 Encoder parameter description ............................................................... 338
9.5 Parameter description FCB parameter setting........................................ 347
9.6 Parameter description for unit functions ................................................. 398
10 Project planning .............................................................................................. 408
10.1 SEW Workbench..................................................................................... 408
10.2 Project planning information ................................................................... 410
10.3 Control characteristics of the axis modules ............................................ 416
10.4 Servomotor selection .............................................................................. 418
10.5 Selecting the braking resistor.................................................................. 471
10.6 Selecting the 24 V supply ....................................................................... 479
11 General information ........................................................................................ 484
11.1 Structure of the safety notes ................................................................... 484
11.2 Rights to claim under warranty ............................................................... 484
11.3 Exclusion of liability................................................................................. 485
11.4 MXR supply and regenerative module .................................................... 485
11.5 Copyright................................................................................................. 485
12 Safety notes..................................................................................................... 486
12.1 General information ................................................................................ 486
12.2 Target group ........................................................................................... 486
12.3 Designated use ....................................................................................... 486
12.4 Transportation and storage ..................................................................... 487
12.5 Installation ............................................................................................... 487
12.6 Electrical connection ............................................................................... 488
12.7 Safe disconnection.................................................................................. 488
12.8 Operation ................................................................................................ 488
12.9 Unit temperature ..................................................................................... 489
13 Unit design....................................................................................................... 490
13.1 Axis system with CAN-based system bus............................................... 490
13.2 Axis system with EtherCAT®-compatible system bus............................. 491
13.3 Important information .............................................................................. 492
13.4 Nameplates and type designations......................................................... 493
13.5 Overview of an axis system .................................................................... 498
13.6 Unit design of MXP power supply module .............................................. 499
4 System Manual – MOVIAXIS® Multi-Axis Servo Inverter

Contents
13.7 Unit structure of the MXR supply and regenerative module ................... 503
13.8 Unit structure of MXA axis modules ........................................................ 504
13.9 System bus in EtherCAT®-compatible or CAN-based design................. 510
13.10 Unit design of the MXM master module component ............................... 511
13.11 Unit design of the MXC capacitor module component ............................ 513
13.12 Unit design of the MXB buffer module component ................................. 514
13.13 Unit design of the MXS 24 V switched-mode power
supply module component ...................................................................... 515
13.14 Unit design of the MXZ DC link discharge module component............... 516
13.15 Combinable modules in case of two-row configuration
of the axis system ................................................................................... 517
13.16 Module combinations with a BST brake module ..................................... 518
13.17 Option combinations on delivery............................................................. 527
14 Installation ....................................................................................................... 530
14.1 Mechanical installation ............................................................................ 530
14.2 Mechanical installation – two-row configuration of the axis system ........ 534
14.3 Mechanical installation – BST connection kit ......................................... 536
14.4 Electrical installation ............................................................................... 538
14.5 Electrical installation – two-row configuration of the axis system ........... 543
14.6 Electrical installation – BST connection kit ............................................. 545
14.7 System bus connection ........................................................................... 548
14.8 Covers and touch guards ........................................................................ 554
14.9 Braking resistors ..................................................................................... 555
14.10 Wiring diagrams ...................................................................................... 558
14.11 Terminal assignment............................................................................... 578
14.12 Connecting the option cards ................................................................... 587
14.13 Connecting encoders to the basic unit .................................................... 613
14.14 Notes on electromagnetic compatibility .................................................. 615
14.15 UL-compliant installation ......................................................................... 617
15 Startup.............................................................................................................. 619
15.2 Power supply module settings for CAN-based system bus SBus........... 620
15.3 Communication selection ........................................................................ 624
15.4 CAN-based application bus CAN2 – information and settings................ 625
15.5 Communication via CAN adapter............................................................ 630
15.6 Settings for EtherCAT®-compatible system bus SBusplus ...................... 631
15.7 Description of the startup software ......................................................... 632
15.8 Sequence in case of new startup ............................................................ 633
15.9 Startup of MOVIAXIS® – single-motor operation .................................... 634
15.10 Application examples .............................................................................. 662
15.11 MOVIAXIS® startup – multi-motor operation........................................... 667
15.12 PDO Editor.............................................................................................. 670
15.13 Parameter list.......................................................................................... 674

Contents
16 Operation ......................................................................................................... 675

16.2 Displays of the supply and axis modules ................................................ 676
16.3 Operating displays and errors of the MXP power supply module ........... 679
16.4 Operating displays and errors of MXA axis module ................................ 680
16.5 MXC capacitor module operating displays.............................................. 712
16.6 MXB buffer module operating displays ................................................... 712
16.7 24-V SMPS module operating displays .................................................. 713
17 Service ............................................................................................................. 714
17.2 Removing/installing a module ................................................................. 715
17.3 Mounting the DC link connection in case of
two-row configuration of the axis system ................................................ 721
17.4 Mounting the DC link connection when a
BST brake module is connected ............................................................. 723
17.5 Extended storage.................................................................................... 724
17.6 Disposal .................................................................................................. 725
18 Appendix.......................................................................................................... 726
18.1 Suitable encoders ................................................................................... 726
18.2 Cable dimensions to AWG ...................................................................... 732
18.3 List of abbreviations ............................................................................... 733
18.4 Terms and definitions.............................................................................. 734
18.5 Declarations of conformity ...................................................................... 735
Index................................................................................................................. 738

System description
Overview of MOVIAXIS system components ® 1
1 System description 1
1.1 Overview of MOVIAXIS® system components
2
Supply and regenerative units
3
Supply unit: 4
MXP power supply module
Description: (page 13) 5

Technical data: (page 106)
Communication of regenerative modules 7

EtherCAT® fieldbus XFE24A
8
XSE
XFE
I O I O
F1 LAM
F1
Supply and regenerative unit: RUN
ERR
RUN
ERR
MXR80 and MXR81 supply

Lnk
Lnk
IN
OUT
Lnk
Lnk
IN
OUT Description: (page 133)

and regenerative modules
EtherCAT EtherCAT
9
IN
IN
X30
X30
with sine- or block-shaped EtherCAT®-compatible system bus

OUT
OUT
supply and energy recovery1) XSE24A

X31
X31
Description: (page 17) 10

Technical data of MXR80:
(page 112)
Technical data of MXR81:
PROFIBUS fieldbus XFP11A 11
(page 113)
Description: (page 132)
12
1) For information about MXR, refer to the manuals "Supply and Regenerative Module - MXR80" and "Supply and Regenerative Module
- MXR81" 13
14
15
16
17
18
19
20
21
22

System description
1 Overview of MOVIAXIS® system components
Inverter series
Option cards for axis modules
XGH XGS
XGS11A, XGH11A multi-encoder card

PROFIBUS fieldbus XFP11A
EtherCAT® fieldbus XFE24A
XSE
XFE
MXA axis module
I O I O
F1 LAM
F1
RUN RUN
ERR ERR
Lnk
Lnk
IN
OUT
Lnk
Lnk
IN
OUT Description: (page 133)

Description: (page 21) IN
EtherCAT EtherCAT
IN
X30
X30
Technical data: (page 116) EtherCAT®-compatible system bus
OUT
OUT
XSE24A
X31
X31
K-Net XFA11A
XIO11A, XIA11A input/output module

X25
X21

X26
X22
XIO XIA
Gateway and motion control unit Master module variants

®
MOVIAXIS MXM UFR41B/ UOH21B
PROFIBUS/DeviceNet gateway UFF41B

UFR41B UFR41B
L14 L14
X30-1 X30-1
L13 L13
MXM gateway master module

X30-2 X30-2
20 20
21 21
ON ON
1 1
L12 L12
2 2
3 3
L11 L11
X38 X38
T1 T1

L5 L5
3 2 3 2
X35
X35
L4 4 1 L4 4 1
L3 X36 L3 X36
S1 S1
PROFINET/Ethernet gateway UFR41B

X37 X37

XM 1 1 XM 1 1
X32
X32
MOVIAXIS
2 2 2 2
L2 3 3 L2 3 3
1 1 1 1
X33
X33
L1 2 2 L1 2 2
3 3 3 3
H1
H2
EURODRIVE
X24
X26
1234567
MXM motion control master

module
MOVI-PLC® advanced - DHE41B, DHF41B,
DHR41B

System description
®
Overview of MOVIAXIS system components
1
Additional units 1
2
MXS 24 V switched-mode
MXC capacitor module
power supply module

3
4
5
MXZ DC link discharge mod-
MXB buffer module
ule 6
Technical data: (page 129) 7
8
Accessories
Prefabricated motor and encoder

cables
Line components for supply
and regenerative modules
10
Technical data: (page 165) Technical data: (page 149) 11
12
13
Line components for supply and
Braking resistors
regenerative modules
14
15
16
17
18
19
20
21
22

System description
1 Additional system and automation components
1.2 Additional system and automation components

System and automation component
Operator terminals
DOP
The operator panels meet the require-
ments for human-machine interfaces
for process monitoring and control in
various production methods.
Single-axis servo inverter
MOVIDRIVE® MDX
The universally applicable inverter for
asynchronous motors and servomo-
tors.
Servomotors
CMP40 – 112
CMPZ71 – 100
Compact, highly dynamic servomotor, CMDV55 – 162
form-closed mounting to all SEW gear The new compact servomotor series
units. from SEW-EURODRIVE.
The CMPZ has an increased intrinsic
inertia for high external loads. Description: (page 219)

DRL71 – 225
Asynchronous servomotors are the
link between the classical asynchro-
nous AC motors for supply system
and inverter operation and the highly
dynamic synchronous servomotors.
Servo gear units

PS.C
PS.F
The low backlash PS.C planetary
The low backlash PS.F planetary
servo gear units are designed for
servo gear units are designed for the
the torque range from 30 – 305 Nm.
torque range from 25 – 3000 Nm.
Variants: PSC, PSKC, PSCZ,
Variants: PSF, PSKF. PSBF.
PSKCZ.

BS.F
The low backlash BS.F helical-bevel
servo gear units are designed for the
torque range from 40 – 1500 Nm.
Variants: BSF, BSKF, BSBF, BSHF,
BSAF.

System description
Benefits and key features of MOVIAXIS®
1
1.3 Benefits and key features of MOVIAXIS® 1

MOVIAXIS® is the name of the modular servo inverter series from SEW-EURODRIVE.
2
1.3.1 Highly dynamic drive solution
3
Technology and motion control functions that meet the highest standards, combined
with maximum dynamics, integrated energy saving technology, and global availability –
All this is provided by SEW-EURODRIVE’s modular system of highly dynamic servo 4
drives. MOVIAXIS® is the perfect multi-axis servo inverter for drive and automation so-
lutions that save time, costs and effort. 5
The powerful and reliable MOVIAXIS®
handles a variety of drive solutions and offers a
wide range of communication and automation options for almost any application. 6
1.3.2 Flexible and adaptable 7

The big advantage of the drive solution is its high degree of flexibility.
Depending on the desired machine and system concept, the MOVIAXIS® multi-axis 8
servo inverter can be combined flexibly and adapted to meet the specific requirements
of the automation structures. 9
1.3.3 Integrated in the SEW modular system 10

MOVIAXIS® has a central position in the portfolio of servo drive systems. It is perfectly
integrated in the existing modular concept of SEW-EURODRIVE, allowing for a multi- 11
tude of drive and automation solutions.
12
1.3.4 Structure of an axis system
The MOVIAXIS® product series consists of the following modules: 13
• Power supply modules
• Power supply modules with sinousoidal and block-shaped supply and regeneration 14
• Axis modules
• Buffer and capacitor modules
15
• DC 24 V switched-mode power supply modules for internal consumption
16
• DC link discharge modules
• Control and communication modules 17
1.3.5 Good software support 18

®
The entire system is supported by the "all-in-one" software MOVITOOLS Motion-
Studio. This software can be used for startup, parameterization, programming, and 19
diagnostics. The execution of these functions is quick, easy, and graphically supported.
20
21
22

System description
1 Benefits and key features of MOVIAXIS®
1.3.6 Description
MOVIAXIS® multi-axis servo inverters have been designed for compact machine and
plant automation systems at the highest stage. Productivity and intelligence are
combined in an ideal way, allowing for a wide range of applications.
1.3.7 Characteristic criteria of MOVIAXIS®

This is ensured by the following criteria:
• Optimum adaptation to the application and maximum flexibility of the entire drive/au-
tomation system in terms of:
– Product scalability (hardware and software)
– Communication and networking options
– Drive functionality and automation options
– Engineering, startup, configuration, and diagnostics using MOVITOOLS® Motion-
Studio
• A variety of application options for variable machines and systems:
– Power range from 10 kW nominal supply power up to a peak power of 187 kW
– A maximum peak current of 250 A
– Energy-optimized sinusoidal and block-shaped regeneration
– Safety technology can be integrated
– Robust housing and simple installation
– Support of all common encoder systems
• Guaranteed solutions with a scalable ratio between costs/solution/resources:
– With motion control functions that range from simple, graphically selectable tech-
nology functions to powerful 32-bit control systems
– With widely applicable motor/gear unit range
– With tiered motion control that ranges from simple positioning to support of cus-
tomer-specific kinematics.

System description
1
1.3.8 MXP power supply modules 1

The power supply module provides energy to up to 8 axis modules as standard. It con-
trols the regenerated energy via a braking resistor or via DC link storage to separate 2
capacitor or buffer modules.
You can connect a maximum of 10 axis modules. In this case, please contact SEW- 3
EURODRIVE.
Battery-powered supply modules are available for special applications. Contact SEW- 4
EURODRIVE in such cases.
Customer benefits of the power supply modules: 5
• Cover a wide range of power ratings with 4 finely graded performance classes: 10 /
25 / 50 / 75 kW 6
• Wide range of supply system voltages for universal application: AC 3 × 380 – 500 V,
50/60 Hz 7
• High drive dynamics with smaller line connection components due to the high over-
load capacity of 250 % of the nominal power for maximum 1 s
8
• Minimized THD/harmonics values and reactive power consumption due to optimized
charging currents and high effective current percentage
9
• Time-saving and error-proof due to automatic address assignment for all axes con-
nected to the CAN1/EtherCAT® system bus
10
• Informative and easy due to 7-segment display for user-friendly visualization of op-
erating and error states of the power supply module
11
• 4-quadrant capability due to the standard brake chopper integrated in the power sup-
ply module.
12
Unit data
13
Supply voltage 3 x 380 V -10% up to 3 x 500 V +10%
Line frequency 50 - 60 Hz ± 5%
Nominal DC link volt-
14
DC 560 V
age
Overload capacity for
250% 15
max. 1 s
Nominal DC Maximum DC Nominal line

16
Nominal link current link current current
Available types Size Technical data
power kW
A A A
17
MXP80A-010-503-00 10 18 45 15 1
MXP80A-025-503-00 25 45 112.5 36 2
(page 106) 18
MXP80A-050-503-00 50 90 225 72 3
MXP80A-075-503-00 75 135 337.5 110 3
19
20
21
22

System description
Scope of delivery • Touch guards

• DC link connections
• Electronics shield clamp
• Power shield clamp
• 24 V supply cable
• Connection cable for CAN-based system bus/EtherCAT®-compatible system bus
• CAN terminating resistor
Optional accesso- • Braking resistors

ries
• Chokes
• Filter
• System bus connection cable for CAN-based system bus
• Connection cable for EtherCAT® master module
• System bus connection cable for EtherCAT®-compatible system bus
• System bus connection cable CAN
• Adapter cable – master module to CAN-based application bus CAN2
• Connection cable for CAN-based application bus CAN2
• CAN2 terminating resistor
• Two-row configuration kit
• Connection kit for safety-related BST brake module

System description
1
1.3.9 MXP81 compact power supply module 10 kW 1

The compact power supply module provides energy to up to 8 axis modules as stan-
dard. It controls the regenerated energy via an integrated braking resistor or via an ex- 2
ternal braking resistor and DC link storage to an integrated energy buffer.
Customer benefits of the power supply modules: 3
• Compact size due to the integration of the braking resistor, brake chopper, and en- 5
ergy buffer in the housing.
• Saves energy by storing up to 250 Ws and dynamically re-using this energy.
6
• Optimized and flexible installation due to the integration of all elements that are im-
portant for operation. This means additional wiring of braking resistors is no longer
necessary. If the internal braking resistor is used to capacity, you can connect a
7
larger, external braking resistor as an option
• Wide range of supply system voltages for universal application: AC 3 × 380 – 500 V, 8
50/60 Hz
• High drive dynamics with smaller line connection components due to the high over- 9
• Minimized THD/harmonics values and reactive power consumption due to optimized 10
charging currents and high effective current percentage
• Time-saving and error-proof due to automatic address assignment for all axes con- 11
nected to the CAN1 or EtherCAT® system bus
• Informative and easy due to 7-segment display for user-friendly visualization of op- 12
• 4-quadrant capability due to the standard brake chopper integrated in the power sup- 13
ply module.
14
Unit data
Supply voltage 3 x 380 V -10% up to 3 x 500 V +10% 15
Nominal DC link volt-
age
DC 560 V 16
Overload capacity for
250%
max. 1 s 17
Nominal DC Maximum DC Nominal line

Available types
Nominal link current link current current Size Technical data
18
power kW
A A A
MXP81A-010-503-00 10 18 45 15 1 (page 108) 19
20
21
22

System description
Scope of delivery • Touch guards

• DC link connections
• CAN terminating resistor

ries
• Chokes
• Filter
• Adapter cable – master module to CAN-based application bus CAN2
• Connection cable CAN2

System description
1
1.3.10 MXR80 supply and regenerative modules (sinusoidal) 1

Supply and regenerative modules provide energy to up to 8 axis modules as standard.
They feed back energy to the power grid via sinusoidal regeneration. A brake chopper 2
is integrated as standard, e.g. for emergency braking operations.
Customer benefits of supply and regenerative modules: 3
4
• Optimum logistics, because one unit covers two performance classes (50 kW or 75
kW) 5
50/60 Hz 6
load capacity of 200% of the nominal power for maximum 1 s 7
• Only effective power consumption in nominal operation, i.e. cosφ = 1
8
• Minimal THD values and reactive power consumption due to sinusoidal current con-
sumption and regeneration
9
• Informative and easy due to 7-segment display for user-friendly visualization of op- 10
• Information about the current energy flow and regenerative energy via service pa- 11
rameter
• Better utilization of the motor power due to increased DC link level of DC 750 V 12
• Necessary transformer power is minimized by optional EcoLine filter
13
• Intelligent and communicative due to option cards for EtherCAT®, PROFIBUS and
SBusplus for seamless system integration
• Safe in case of a power failure due to standard integrated brake chopper for connect-
14
ing an emergency braking resistor.
The supply and regenerative modules are available with sinusoidal or block-shaped en- 15
ergy regeneration.
For detailed information about MXR, refer to the manuals "Supply and Regenerative 16
Module - MXR80" and "Supply and Regenerative Module - MXR81".
17
18
19
20
21
22

System description
Unit data
Supply voltage 3 x 380 V - 3 x 480 V ±10%
Nominal DC link
DC 750 V controlled
voltage
Overload capacity
200%1)
for max. 1 s
Nominal DC Maximum DC
Nominal power Nominal line current
Available types link current link current Technical data
kW A
A A
50 kW at 8 kHz PWM 67 73 A at 8 kHz PWM
MXR80A-075-503-00 135 × 2.5 (page 112)
75 kW at 4 kHz PWM 100 110 A at 4 kHz PWM
1) For a connection voltage of DC 380 - 400 V
Scope of delivery • DC link connections

• Measurement cable connector
Necessary • NFR line filter

accessories
• NDR line choke

ries
• EcoLine filter mandatory for 75 kW operation
• EtherCAT® master module connection cable
• Adapter cable master module to CAN2
For the part numbers of the cables, see chapter "Installation and connection accesso-
ries" (page 67).

System description
1
1.3.11 MXR81 supply and regenerative modules (block-shaped) 1

Supply and regenerative modules provide energy to up to 8 axis modules as standard.
They feed back energy to the power grid via block-shaped regeneration. A brake chop- 2
per is integrated as standard, e.g. for emergency braking operations.
Customer benefits of supply and regenerative modules: 3
4
• 2 performance classes with 50 kW and 75 kW in 2 frame sizes
5
50/60 Hz
6
7
• Only effective power consumption in nominal operation, i.e. cosφ = 1
• Cost-optimized solution for grids with constant voltage and frequency
8
9
• Informative and easy due to 7-segment display for user-friendly visualization of op-
10
• Information about the current energy flow and regenerative energy via service pa-
rameter
11
• Intelligent and communicative due to option cards for EtherCAT®, PROFIBUS and
SBusplus for seamless system integration
12
• Safe in case of a power failure due to standard integrated brake chopper for connect-
ing an emergency braking resistor.
• Regenerative operation is activated automatically. The output stage is activated in
13
actual regenerative operation, i.e. it is inhibited during motoring operation and stand-
still. Grid disturbances, reactive power, and supply transformer heating are reduced 14
to a minimum.
• Emergency operation with braking resistor can easily be activated, e.g. for working 15
within an isolated system or when using a UPS.
The supply and regenerative modules are available with sinusoidal or block-shaped en- 16
ergy regeneration.
For detailed information about MXR, refer to the manuals "Supply and Regenerative 17
Module - MXR80" and "Supply and Regenerative Module - MXR81".
18
19
20
21
22

System description
Unit data
Supply voltage 3 x 380 V - 3 x 480 V ±10%
Nominal DC link
DC 560 V1), non-controlled
voltage
Overload capacity
225%2)
for max. 1 s
Nominal DC Maximum DC
Nominal power Nominal line current
Available types link current link current Technical data
kW A
A A
MXR81A-050-503-00 50 kW at 8 kHz PWM 94 235 80 A at 8 kHz PWM (page 112)
MXR81A-075-503-00 75 kW at 4 kHz PWM 141 353 121 A at 4 kHz PWM (page 113)
1) With nominal line voltage 400 V
2) Depending on the line voltage and the relative short-circuit voltage at the regenerative power supply module input. Input means the
input of the NF line filter

• Measurement cable connector
Necessary acces- • NFR line filter

sories
• NDR line choke

ries • System bus connection cable for CAN-based system bus
• EtherCAT® master module connection cable
ries" (page 67).

System description
1
1.3.12 MXA axis modules 1

The axis modules either communicate directly with a control over the integrated system
buses or are controlled centrally via a master module. 2
The modules can be optionally equipped with up to two safety relays for implementing
"safe stop" (STO) to category 3 or 4/performance level "d" or "e" and SIL3. 3
• MXA80: no safety relay
• MXA81: one safety relay for STO PL "d" according to ISO 13849
• MXA82: two safety relays for STO PL "e" according to ISO 13849 4
See also chapter "Functional safety / "Safety functions" (page 88).
5
Customer benefits and key features of the axis modules:
• Finely-graded axis sizes:
• At PWM 4 kHz: 2 / 4 / 8 / 12 / 16 / 32 / 43 / 64 / 85 / 133 A 6
• At PWM 8 kHz: 2 / 4 / 8 / 12 / 16 / 24 / 32 / 48 / 64 / 100 A
• At PWM 16 kHz: 1.5 / 3 / 5 / 8 / 11 / 13 / 18 / - / - / - A 7
• High overload capacity of 250% of the nominal current for a maximum of 1 s
• Up to three motors with their own parameter sets can be operated sequentially per 8
axis module. Users can switch between parameter sets.
• Very comprehensive technology and motion control functions are available free of 9
charge, such as electronic cam, virtual encoder, touch probe, event control, position-
ing, referencing
10
• Can be controlled with user-defined units
• Central data backup and automatic reload in case of service via the master module 11
®
• CAN-based system bus SBus, CAN-based application bus CAN2, or EtherCAT -
compatible system bus SBusplus 12
• Firmware upload and download via fieldbus, system bus, or parameterization inter-
face 13
• 7-segment display for user-friendly visualization of operating and error states at the
axis module
14
• Non-linear torque and speed characteristic curves are taken into account
• Brake test function for checking the braking capability of the motor regularly 15
• Digital inputs and outputs at the axis module
• 9 isolated digital inputs; one is set to the controller inhibit function, 8 can be pro- 16
grammed by the user, 4 touch probe inputs,
• 4 freely programmable digital outputs. 17
• Power shield clamps that can be separated up to size 3
• Electronics shield clamps can be separated
18
• 3 option card slots to expand the functionality
19
• Separate DC 24 V voltage channels for powering the inverter electronics and motor
brakes. Configuration, diagnostics and data storage even when the supply system is
switched off. 20
21
22

System description
Standard functionality of the axis modules
Fieldbus/network communication MotionControl

®
PROFIBUS × MOVI-PLC advanced ×
DeviceNet × IEC 61131 motion libraries ×
PROFINET ×
EtherNet/IP ×
CAN2 • Basic unit functions
EtherCAT® /SBusplus × User-level password management •
CAN1 / SBus • Graphical function connection •
User-defined units • Double CAN system bus •
TCP/IP, UDP/IP × EtherCAT®-compatible system bus ×
9 digital inputs •
Motion control / technology functions 4 digital outputs •
40 electronic cams •
Online curve calculation • Diagnostics/service/monitoring
Virtual encoder • Offline scope •
Event/sequence control • 8-channel scope •
Electronic gear unit • Thermal motor management •
Touch probe • Thermal inverter management •
Cam controller • Electronic nameplate •
Sensor-based positioning • Overload prevention •
Jog mode • Central data storage/SD card •
Auto reload data record for replace-
Reference travel • •
ment
Temperature-compensated torque
Modulo function • •
control for asynchronous motors
Direct control of 24 V brakes •
Auto addressing •
Safety technology
Encoder/motor data STO PL d / category 3 ×
Synchronous, asynchronous, linear
• STO PL e / category 4, SIL3 ×
motor operation
Non-linear torque characteristics •
®
Hiperface , resolver, TTL, Endat 2.1 •
Calibrating the encoder and commu- • as standard
•
tation
Non-SEW motors × × optional
Brake test function •
Multi-motor operation, max. 3 motors ×
Encoders for the See chapter "Additional system components" (page 225).
axis module

System description
1
Unit data 1
Nominal DC link volt- DC 560 V
age1) DC 750 V2) 2
Output voltage 0 - max. Vline
Overload capacity
250% 3
for max. 1 s
Nominal output Nominal output

4
Maximum output
current at 8 kHz current at 4 kHz
Available types current Size Technical data
PWM PWM
A A
A 5
MXA80A-...-503-00 2 2 5 1
MXA80A-...-503-0E3) 4 4 10 1 6
MXA81A-...-503-00
8 8 20 1
MXA81A-...-503-0E3)
12 12 30 2
7
MXA80A-...-503-00 16 16 40 2
(page 116)
MXA80A-...-503-0E3) 24 32 60 3 8
MXA81A-...-503-00
32 43 80 3
MXA81A-...-503-0E3)
MXA82A-...-503-00 48 64 120 4 9
MXA82A-...-503-0E3) 64 85 160 5
100 133 250 6 10
1) at Vline= 400 V
2) For operation with an MXR supply and regenerative module 11
3) ...-0E: Axis modules with built-in XSE option
12
Unit variant: "Axis modules with built-in, EtherCAT®-compatible SBusplus system bus"
The unit variant with type designation MXA8.A-...-503-0E consists of an axis module 13
with a built-in, EtherCAT®-compatible XSE24A system bus option card.
This variant is identical in design with the MXA8.A-...-503-00/XSE24A axis modules, in 14
which the XSE24A card is retrofitted.
The difference between both variants is that the ..-0E axis cannot be equipped with any 15
additional options, and therefore costs less.
16
17
18
19
20
21
22

System description
Bus interface/sys-
tem bus variants
[1] [2]
XSE
I O
LAM
F1
RUN
ERR
Lnk IN
Lnk OUT
EtherCAT
IN
X30
OUT
[3] [3]
X31
2855065611
[1] CAN-based system bus, SBus [2] EtherCAT®-compatible system bus SBusplus
[3] CAN-based application bus CAN2 (standard)

Optional • Motor protection connection terminal block

accessories

System description
1
1.3.13 MXM master modules 1

The master module extends the MOVIAXIS® multi-axis servo system by various control,
communication and data management functions. 2
®
The master module is available as variant with MOVI-PLC advanced (32-bit motion
controller) and fieldbus gateway. 3
The fieldbus gateways provide sophisticated and transparent communication access to
the entire axis system. They replace all fieldbus interfaces in the individual axis mod- 4
ules. This means that the axis module type does not have to be adjusted using fieldbus
interfaces, which saves time and optimizes the logistics and storage processes. The
axis module is equipped with a USB port for parameter setting as well as a TCP/IP net- 5
work connection and an SD memory card for central data storage of all axis system
data. When an axis is replaced, the entire data record, including the parameter settings, 6
is loaded to the new axis. This feature makes it very easy to restart a system after the
replacement has been made.
7
The fieldbus gateways communicate with the axis system either via the CAN1/CAN2 or
the EtherCAT® system bus connection.
8
All integrated controllers are available with comprehensive libraries. The ready-made
function modules can be programmed in IEC 61131. This means that users can access
the drive functions of the servo inverter directly from their usual PLC programming en- 9
vironment. Consequently, all MOVI-PLC® controllers speak the "language" of the servo
inverter and control it much better than non-SEW controllers using the process data in- 10
terface. Depending on the control class, additional USB and TCI/IP interfaces, local I/O,
and central data storage for all data and programs of the axis system can be integrated.
11
Variants
Due to flexible combination options for hardware, functionality, technology and control
12
engineering, the MOVIAXIS® multi-axis servo inverters can be used in various automa-
tion topologies. 13
These structures differ primarily in where and with which PLC and motion control func-
tions they are processed. 14
The use of different master modules according to the automation structure (control/field-
bus gateway) is typical. 15
Unit data 16
Nominal input voltage DC 24 V ± 25% (EN 61131)
17
Unit variant Technical data
Available types
MOVI-PLC® advanced1) DHE41B, DHF41B, DHR41B (page 123) 18
MXM80A-000-000-00 / DHP11B
MXM80A-000-000-00 / DH.41B PROFIBUS / DeviceNet gateway UFF41B
19
PROFINET / EtherNet/IP / Modbus/TCP UFR41B
1) For technical data and connections of the DH.41B control module, see "MOVIPLC® advanced /DHE41B /DHF41B /DHR41B Control-
ler" manual. 20
21
22

System description
Scope of delivery • Electronics shield clamp

• CAN master module connection cable
• Cable lugs
Optional • System bus connection cable for CAN-based system bus

accessories
ries" (page 67).

System description
1
1.3.14 MXS 24 V switched-mode power supply module 1

The switched-mode power supply is fed from the DC link voltage and provides the 24 V
voltage for supplying the electronics in the axis system and the motor brakes. 2
The DC 24 V supply can bridge a voltage dip in the DC link for a short time (about 10
ms). 3
The switched-mode power supply is protected against overload during operation in the
defined DC link voltage range. The output voltage is connected in parallel to 3 different 4
output terminals with a common ground reference. Each output is separately monitored
for a maximum output current value of 10 A, which means the power supply is current
limited and short-circuit proof. 5
If the DC link voltage is not available, operation of the switched-mode power supply can
be continued via the external 24 V supply, e.g. for setting the parameters of the axis sys- 6
tem. This means all monitoring functions and the operating display continue to operate.
The same monitoring levels as for the output voltages, which are generated from the DC 7
link, also apply to the 24 V supply.
The current overload at the output terminals is indicated by a three-color diode. 8
®
The MXS switched-mode power supply unit can be combined with all MOVIAXIS mod-
ules, except for the MXR supply and regenerative module. If you plan to combine MXS 9
and MXR, please contact SEW-EURODRIVE.
10
Unit data
Nominal DC link voltage1) DC 560 V 11
Nominal input backup voltage DC 24 V ± 25% (EN 61131)
Nominal output voltage DC 3 x 24 V (shared ground) tolerance for supply via DC link: DC 24 V, +10% / -0% 12
Tolerance for supply via external 24 V: Depends on the input voltage and the requirements of the
connected units.
13
Nominal output current Nominal output power
Available types Technical data
A W 14
MXS80A-060-503-00 3 × 10 A2) 600 (page 127)
1) at Vline= 400 V
15
2) Not possible at the same time because total power is limited to 600 W
16
Scope of delivery • DC link connections 17

18
19
20
21
22

System description
1.3.15 MXC capacitor modules

Capacitor modules are intelligent energy buffers.
In the capacitor module, the energy supplied to the DC link when applying the brake of
a motor is activated through a charging circuit and quickly "stored". During an acceler-
ation process, this energy is then supplied back to the main DC link and utilized again.
Only braking energy that exceeds the capacity of the capacitor modules is dissipated
via an optional braking resistor.
The capacitor module is a simple and easily integrated additional component for saving
or re-using energy.
When designing the application accordingly, you can save a remarkable amount of en-
ergy. Depending on the application, only the power losses are taken from the supply
system. In addition, you can omit the braking resistor, which means no dissipated heat.
Unit data
MXC80A-050-503-00 Technical data
Nominal DC link voltage
DC 560 V1)
VNDCL
(page 125)
Storable energy1) 1000 Ws
Peak power capacity 50 kW
1) With Vline = 400 V

1.3.16 MXB buffer modules

Buffer modules are pure energy storage devices.
Buffer modules are charged with energy from the DC link irrespective of whether the
motors are decelerated or accelerated.
This means buffer modules make available a “guaranteed amount of energy” in the DC
link. This amount of energy can be used to move drives to a safe position (return move-
ment), for example in the event of a power failure in the system.
Unit data
MXB80A-050-503-00 Technical data
Nominal DC link voltage 1)
DC 560 V
VNDCL (page 126)
Storable energy1) 1000 Ws


System description
1
1.3.17 MXZ DC link discharge modules 1

The DC link discharge module shorts the voltage link of the axis system by means of an
electronic switch via a special braking resistor. This may only take place if the supply of 2
the DC link has been disconnected, i.e. the MXP power supply module or the MXR sup-
ply and regenerative module is no longer connected to the supply system.
3
Once the discharge process is complete and the discharge current is approaching zero,
the electronic switch will open automatically.
4
A synchronous servomotor connected to the DC link via an axis module generates a
speed-dependent braking torque. This means an uncontrolled drive can be decelerated
electronically even without servo inverter function. 5
At the same time, the kinetic energy is converted into heat energy via the special braking
resistor. 6
The maximum amount of energy that can be dissipated via the braking resistor will have
to be configured because the DC link discharge module and the braking resistor will 7
have to be of appropriate size.
INFORMATION 8
If a motor is driven mechanically, as is the case in a hoist, standstill cannot be accom-
plished. The DC link discharge module is intended for discharge of kinetically stored 9
energy only. Do not use the DC link discharge module for potential energy (hoist,
spring, accumulator). 10
INFORMATION
11
For configuring a DC link discharge module, contact SEW-EURODRIVE.
12
Unit data
Nominal DC link voltage DC 560 V1) 13
2)Discharge
Available types
Convertible resis- Duration of quick
Size Technical data 14
energy E in J tance in Ω discharge in s
MXZ80A-050-503-00 5000 1 ≤1 1 (page 129)
15
2) For the DC link discharge module to function correctly, you must choose a suitable discharging resistor during project planning.
16
17
• 24 V supply cable 18
19
20
21
22

System description
1 Areas of application and automation options with MOVIAXIS®
1.4 Areas of application and automation options with MOVIAXIS®

The MOVIAXIS® multi-axis servo inverter was developed with the specific requirement
to create additional value for the user, however different the applications may be.
1.4.1 High degree of flexibility and great user benefits

MOVIAXIS® offers a high degree of flexibility and great user benefits. These are:
• Perfect adaptation and maximum flexibility of the entire drive and automation
system.
• Hardware and software are scalable
• Communication and networking options
• Drive functionality and automation options
• Engineering, startup, configuration and diagnostics using MOVITOOLS® Motion-
Studio.
• A variety of application options for variable machines and systems.
• Nominal supply power of 10 kW, peak power up to 187 kW
• Sinusoidal energy recovery technology
• Peak current of 250 A
• Integrated safety technology, up to performance level "e"
• Robust housing and simple installation
• Support of all common encoder systems.
• Best effort/solution/resources ratio.
• Motion control functions that range from simple, graphically selectable technology
functions to powerful 32-bit control systems
• Widely applicable motor/gear unit range
• Tiered motion control that ranges from simple positioning to support of customer-
specific kinematics.
With these features, MOVIAXIS® is perfect for a wide range of applications in machine
and plant engineering. In addition, MOVIAXIS® can be combined with the known auto-
mation structures and hybrids thereof:
This high degree of adaptability is ensured by the different master module variants. The
master module functions as the head of MOVIAXIS®, see the system component de-
scription for the master module (page 25).
The master module is available in two different variants:
1. Fieldbus or network gateway for universal connection to all common fieldbus and
network systems.
2. Motion control MOVI-PLC® advanced, as freely programmable motion controller on
the basis of IEC 61131 or as purely parameterizable controller with predefined appli-
cation modules.
These two variants are described in the next two chapters.
1.4.2 Master module with integrated gateway

Conventional machine and system PLC with fieldbus or network connection of the in-
verters. Here, a higher-level controller (PLC) coordinates the entire machine/plant and

System description
Areas of application and automation options with MOVIAXIS®
1
controls all processes. In general, only the positioning and travel commands or very 1
time-critical tasks are handed down to the connected drive systems.
2
6
Motion and Logic Control
7
2855985419
8
Application This variant of the MOVIAXIS® master module is suitable for the following machines and
requirements systems: 9
• High demands on individual, axis-related motion control functions, no complex axis
interplay and respective processing, 10
• Only limited flexibility and performance required from the motion controller,
• Machines that replace systems operated with frequency inverter and PLC, 11
• Machines for which an increase in production requires the use of at least some mo-
tion control and servo technology functions. 12
• Machines in which the use of a motion controller makes no sense technically and ec-
onomically. 13
Target applications Application examples: 14

• Storage and retrieval systems
• Simple packaging machines 15
• Handling equipment
16
• Discharge and unloading systems
• Simple sheet metal forming machines. 17
Machines and systems with the above requirements can easily be implemented with a
combination of MOVIAXIS® and a convenional PLC via a master module with fieldbus
18
or network gateway.
19
20
21
22

System description
Customer benefits The following features in particular offer sustainable customer benefits:
• Motion control functions integrated in the axes,
• Centralized communication,
• Automatic data storage.
Motion control integrated in the axis controller: functional, simple, and realized in the PLC program with very
little effort.
No changes to the One of the essential advantages of MOVIAXIS® with a centralized machine controller is
PLC the fact that the PLC can remain almost unchanged. No program structures and already
implemented functions must be transferred to the new system. The PLC programmer
does not have to become acquainted with the complex motion control functions of
MOVIAXIS®.
Wizard support The servo and motion control functions are all controlled via process data interfaces and
functions that can be graphically linked. Standard functions, such as single-axis posi-
tioning, can easily be implemented using wizards and startup editors. Pre-configured
driver modules, e.g. for the S7 PLC, simplify the control integration process further.
Customer benefits Customer benefits of the axis-integrated motion control application:

• Simple and minimal-effort solution, established automation structures can usually be
maintained,
• Cost-optimized solution: Servo inverter and motion control in one solution package,
• Minimal training period: Software-based realization of all motion control tasks,
• Safe and fast solutions, ready-to-use, tried-and-tested solutions and implementation
options.
Centralized communication, powerful and flexible

The UFx fieldbus/network gateway systems optimize a number of bottlenecks of modern
machine/plant automation.
This ensures an ideal cost/benefit ratio.
High-speed If you use high-speed gateways throughout, you can keep the axes fieldbus-indepen-
gateway dent. The fieldbus/network functionality is set on site/at the customer's via DIP switch.
Fieldbuses This allows you to select flexibly between PROFIBUS / DeviceNet and PROFINET,
EtherNet/IP, Modbus/TCP.
System buses The following scalable bus systems are available for connecting the axes: CAN-based
system bus SBus, CAN-based application bus CAN2, and, as maximum expansion
stage, EtherCAT®-compatible system bus.

System description
1
TCP/IP, USB In addition, TCP/IP communication is on board for a connection with a host system. This 1
allows, for example, a maintenance computer to access the system directly to read
system data and make settings. The USB interface is available for fast access.
2
Customer benefits Advantages of this centralized communication:
3
• Axis modules independent of the fieldbus: Optimized and minimized storage, which
means reduced service complexity,
4
• Integrated TCP/IP: Office communication, remote maintenance and standard PC
connection always available,
5
• Three communication performance classes: Costs and communication performance
can be scaled perfectly,
• Switchable high-speed gateways: Flexible connection option to all common PLC
6
manufacturers, such as Siemens, Schneider, Allen Bradley.
7
Automatic data storage, centralized and always available
Modern drive systems offer a variety of setting and optimization options for perfect 8
adaptation to the application and maximum productivity. These settings are guarantors
of the machine performance. They refer to the machine and not to a drive controller, 9
which is why they must remain with the machine.
10
Saving the settings SEW-EURODRIVE ensures that these important axis module settings are saved by
means of a central data memory in the gateway.
The data of all parameterizable axis modules is stored in the "data safe". If needed, it
11
can be used for re-parameterization or recovery.
When replacing a unit, the "auto reload" function can write the data from the "data safe" 12
directly to the new unit, no action of the user required.
The data is also saved on an exchangeable SD card in the gateway. 13
Customer benefits Advantages of this data storage: 14

• Data stored centrally in the gateway: All relevant settings are always safely stored in
a central location, independent of the axis, 15
• Data on the SD card: The settings of the project and of the machine are saved when
replacing an axis or a gateway, 16
• Auto reload: Minimal standstill times in the event of a failure, even without specially
trained service staff. 17
18
19
20
21
22

System description
1.4.3 Master module with integrated controller

Higher-level machine and system PLC with lower-level module and segment controllers
or control devices.
Here, the higher-level PLC monitors and controls only the overall process, while lower-
level module controllers, with a defined interface to the higher-level PLC, control the in-
dividual modules and segments of a machine independently. Often, the focus is on mo-
tion control and encapsulating an application for re-use without much additional effort.
PLC
Operator panel
Fieldbus
Motion and logic control
I/O
2856514699
Application This variant of the master module is suited for the following structures.
requirements
Automation structures with modular machine and system components that require an in-
tegrated MOVI-PLC® controller are usually characterized as follows:
• Machine modules are automated independently of each other and started up in ad-
vance,
• Tasks of the motion controller, the PLC, and the continuous path controller are to be
solved on a shared platform. It must be possible to encapsulate and re-use modular
solutions,
• Performance-critical motion control tasks must be independent of the PLC program-
ming and the PLC system,
• Machines are distributed worldwide and work with different control systems, such as
Siemens, Schneider, Allen Bradley, as requested by the end customer. The effort for
program modifications in the end customer PLC must be minimal. The machine is
started up with a predefined program library.
Target applications Application examples:

• Robot cells,
• Cutting, sorting, labeling, filling, and sealing units, e.g. in bottling and packaging
machines,
• Deep drawing and blister machines,
• Very powerful and flexible storage and retrieval systems,
• Systems with processing stations.

System description
1
One platform for all – MOVI-PLC® high-end motion control, PLC, kinematic and continuous path control 1
The higher-level machine controller can be designed in such a way that it only performs
additional "coordination and management tasks" for the overall process. 2
MOVI-PLC® will continue to offer different technology and performance levels, which al-
lows for perfect scaling and adaptation to the application. 3
The communication and data storage options of MOVI-PLC® and of the high-speed
gateway are exactly the same. 4
Motion control The decisive motion control functions of the individual stations or machine modules are
implemented completely in the MOVI-PLC® controller that is matched perfectly to
5
MOVIAXIS®.
In this way, the higher-level controller can be adapted with minimum effort to regional 6
end customer requirements concerning the manufacturer of the higher-level machine or
system PLC. 7
IEC 61131 stan- It is not necessary to develop the decisive motion control programs anew in the respec- 8
dard tive, manufacturer-specific programming languages. MOVI-PLC® supports the world-
wide, standardized programming environment IEC 61131, including PLCopen func-
tions. 9
Configurable con- Sophisticated applications can be realized using the configurable control units (CCU), 10
trol units CCU which merely require the parameterization of predefined functions, e.g. for storage and
retrieval systems.
11
Kinematics/robot- One of the scalable expansion stages of MOVI-PLC® offers, for example, a complete,
ics integrated continuous-path control system that supports and transforms various kine- 12
matics. Simulation tools for implementing complete robotics and handling systems are
also integrated. 13
PLC and motion In addition to modular and sub-system control, MOVI-PLC® is powerful enough to offer 14
control complete machine control with visualization, PLC and motion control tasks, and data
storage.
15
In these cases, the overall machine controller can be omitted, which leads to a lean and
cost-optimized solution.
16
Customer benefits Advantages of using MOVI-PLC® and MOVIAXIS®:
• Comprehensive periphery: MOVI-PLC® I/O and the DOPs ensure optimum operation 17
of almost any application and integration of peripheral units,
• Quick adaptation to controllers from different manufacturers: All critical motion con- 18
trol and machine functions can be programmed independently in MOVI-PLC®,
• Short startup times: The modular design allows for pretested modules and sub-sys- 19
tems. MOVI-PLC® can also be used to completely automate machines without a
classical PLC, 20
• Motion control, PLC, kinematic or path control: One platform with reduced complexity
and universal programming, 21
22

System description
• Ready-to-use and tested IEC-61131 libraries: Easy and fast programming of all
drives from SEW-EURODRIVE. Use of configurable control units (CCU): Application
modules for multi-axis applications that offer fast implementation without program-
ming and protection against manipulation by the operator,
• Scalable motion control functionality: Costs and functions can be adapted perfectly
to the application due to various technology levels; scalable hardware platforms: Dif-
ferentiated use of "advanced" controllers allow for further, cost-optimizing price and
performance adaptations,
• Transparent and universal data storage and communication: Identical behavior
throughout the entire MOVIAXIS® system, irrespective of whether a high-speed
gateway or a MOVI-PLC® controller is used.
1.4.4 Summary
Be it master modules in connection with high-speed gateways or MOVI-PLC® motion
controllers – MOVIAXIS® can almost always be adapted perfectly to the application in
terms of technology, functionality, communication, and unit control.
Costs and effort are saved due to
• Simpler operation, programming, validated ready-to-use solutions and product com-
binations,
• Consistency and reduced complexity,
• Optimized logistics, fewer modules, and one supplier.

System description
Option cards providing more functions and flexibility for axis modules and
1
1.5 Option cards providing more functions and flexibility for axis modules and 1
supply and regenerative modules
MOVIAXIS® offers a number of different option cards to expand the functionality of the 2
individual axis modules or sinusoidal supply and regenerative modules and/or to make
them more flexible. 3
The following option cards are available:
Installa- Installa- 4
Option card Designation Description tion in tion in
MXA MXR
Multi-encoder card for 5
• Motor and distance encoders TTL, incremen-
tal encoder, Hiperface®, EnDAT 2.1, SinCos
Encoder and distance
XGH11A
• Incremental encoder simulation
x 6
encoder cards • ±10V AE
• DC 24 V supply
Like XGH, but with SSI as additional encoder sys-
7
XGS11A x
tem
8
I/O card with
XIA11A • 4 DI, 4 DO x
• 2 AI, 2 AO resolution 12 bit 9
Input/output cards • 24 V supply
I/O card with
XIO11A • 8 DI, 8 DO x
10
• 24 V supply
11
XFP11A PROFIBUS IO fieldbus interface, up to 12 Mbaud x x
Fieldbus interface for connection to EtherCAT® 12
System bus and fieldbus XFE11A x x
networks
interfaces
System bus option card for expansion to
XSE11A x x
EtherCAT®-compatible system bus 13
14
15
16
17
18
19
20
21
22

System description
1 Option cards providing more functions and flexibility for axis modules and
1.5.1 Multi-encoder card option XGH11A, XGS11A

The multi-encoder card expands the MOVIAXIS® system for evaluation of additional en-
coders.
Two different multi-encoder cards are available. Their selection is based on the encoder
type that is to be evaluated, see encoder list on the next page. An analog, differential
input (±10 V) is available in addition.
XGH XGS
[X61] [X61]
[X62] [X62]
[X63] [X64]
2881678347
Overview of functions
The following functions and encoder types can be evaluated with the multi-encoder
card:
Functions XGH version XGS version
SSI functionality -- x
®
Hiperface functionality
EnDat 2.1 functionality
Incremental encoder / sin/cos function-
ality
x x
Incremental encoder simulation
Temperature evaluation
Analog, differential input ±10 V
Optional 24 V voltage supply
Resolver -- --
• HTL encoders can be operated using an HTL → TTL interface adapter. The part
number of the interface adapter is 0188 1809.
• Single-ended HTL encoders can be operated using an HTL → TTL interface adapter.
The part number of the interface adapter is 0188 1876.
• Resolvers cannot be evaluated with the multi-encoder card.

System description
1
Multi-encoder card connection technology 1

Suitable encoders The encoders that can be evaluated by the multi-encoder card are listed in the appendix
of this publication (page 726). 2
1.5.2 Fieldbus interface option PROFIBUS XFP11A 3

Terminal assignment
DIP
4
Front view of XFP11A Description switches Function
Terminal
5
RUN: PROFIBUS operation Indicates that the bus electronics are operating cor-
LED (green) rectly.
6
BUS FAULT: PROFIBUS error Indicates PROFIBUS-DP error.
LED (red)
0 1
Assignment 7
0
2 X31: PROFIBUS connection X31:1 N.C.
21 X31:2 N.C. 8
22 X31:3 RxD / TxD-P
X31:4 CNTR-P
23 X31:5 DGND (M5V) 9
X31:6 VP (P5V / 100 mA)
24 X31:7 N.C.
10
X31:8 RxD / TxD-N
25 X31:9 DGND (M5V)
26 ADDRESS: DIP switch for set- 20 Significance: 1 11
nc ting the PROFIBUS station 21 Significance: 2
address
2881884683 22 Significance: 4
23 Significance: 8 12
24 Significance: 16
25 Significance: 32
26 Significance: 64
13
nc Reserved
14
15
16
17
18
19
20
21
22

System description
1.5.3 EtherCAT® XFE24A fieldbus interface option

The XFE24A fieldbus interface is a slave module for connection to EtherCAT® networks.
Only one XFE24A fieldbus interface can be installed per axis module. The XFE24A field-
bus interface allows MOVIAXIS® to communicate with all EtherCAT® master systems.
Standards of the ETG (EtherCAT® Technology Group), such as wiring, are supported.
This means the cables must be wired at the front by the customer.
XFE
I O [1] F1 switch
F1 [1] • Switch position 0: Delivery state
• Switch setting 1: reserved for functional extension
[2] RUN LED; color: green/orange
RUN [2] [3] LED ERR; color: red
ERR [3] [4] LED Link IN; color: green
Lnk IN [4] [5] LED Link OUT; color: green
OUT [5] [6] Bus input
Lnk
[7] Bus output
EtherCAT
IN
[6]
X30
OUT
[7]
X31
2882456971
For more information about the EtherCAT® fieldbus interface, refer to the "MOVIAXIS®
MX Multi-Axis Servo Inverter XFE24A EtherCAT® Fieldbus Interface" manual.

System description
1
1.5.4 EtherCAT®-compatible XSE24A system bus option 1

The EtherCAT®-compatible
system bus XSE24A is an optional, axis-internal expansion
module. This module implements the functionality of an EtherCAT®-compatible high- 2
speed system bus for MOVIAXIS®. The XSE24A option module is no fieldbus interface.
It cannot be used for communication with non-SEW EtherCAT® masters.
3
Analog to the wiring of the CAN system bus, the system is connected using the RJ45
plug connection on the top of the unit included in the standard scope of delivery. The
CAN system bus is not available when XSE24A is used. 4
The XSE24A is part of the unit variant MXA8.A-...-503-0E, see chapter "MXA axis mod-
ules / unit data" (page 23). 5
6
[1] LAM switch
XSE
I O • Switch position 0: All axis modules except the last one

LAM [1] • Switch position 1: Last axis module in the system 7
F1 [2]
[2] F1 switch
• Switch position 0: Delivery state
RUN [3]
• Switch setting 1: reserved for functional extension 8
ERR [4]
Lnk [5]
IN
[4] LED ERR; color: red 9
Lnk OUT [6]
[5] LED Link IN; color: green
[6] LED Link OUT; color: green 10
EtherCAT
11
IN
X30
12
OUT
13
X31
14
2882542731 15
16
17
18
19
20
21
22

System description
1.5.5 Optional input/output card type XIO11A

Terminal assignment
Designation Terminal Plug Plug size

DCOM 1
+24 V 2
DO 0 3
DO 1 4
DO 2 5
X21
DO 3 6
DO 4 7
DO 5 8
DO 6 9
DO 7 10 COMBICON 5.08
One core per terminal: 0.20 - 1.5 mm2
DI 0 1
Two cores per terminal: 0.25 - 1.5 mm2
DI 1 2
DI 2 3
DI 3 4
DI 4 5
X22
DI 5 6
DI 6 7
DI 7 8
2882694795

System description
1
1.5.6 Optional input/output card type XIA11A 1

Terminal assignment
2
Designation Terminal
DCOM 1
3
24 V 2
DO 0 3 4
DO 1 4
DO 2 5 5
X25
DO 3 6
DI 0 7 6
DI 1 8
DI 2 9 7
DI 3 10 COMBICON 5.08
Al 0+ 1
Two cores per terminal: 0.25 - 1.5 mm2 8
Al 0- 2
Al 1+ 3
9
Al 1- 4
AO 0 5
AO 1 6
X26 10
DGND 7
DGND 8 11
2883219723 12
13
14
15
16
17
18
19
20
21
22

System description
1 Installation variants, combination and communication options
1.6 Installation variants, combination and communication options

MOVIAXIS® offers a high degree of flexibility for installation and combinations of the in-
dividual system components. The mechanical installation options and the resulting com-
munication options are described below.
1.6.1 Arrangement of individual system elements in the axis system (single-row configuration)
All MOVIAXIS® system components must be arranged in a particular way. The following
figure shows the correct installation of the available MOVIAXIS® modules (without DC
link discharge module).
[1] [2] [3] [4] [5] [6] [7] [8] [9] [10]
18014401446185995
[1] Master module [6] Axis module size 4

[2] Capacitor or buffer module [7] Axis module size 3
[3] Power supply module or supply and regenerative module [8] Axis module size 2
[4] Axis module size 6 [9] Axis module size 1
[5] Axis module size 5 [10] 24 V switched-mode power supply module
If one of the modules is not needed for the application solution, the other modules must
be moved to close the gap in the axis system.
Axes with a height of 300 mm and 400 mm can be combined according to the perfor-
mance and supply project planning.
Separate operation Separate operation of individual modules is not permissible under any circumstances.

System description
Installation variants, combination and communication options
1
Hole intervals The bore holes of the axis modules are spaced out evenly at intervals of n × 30 mm. This 1
means that the back walls of the control cabinet can easily be prepared with a pattern
of n × 30 mm. You can mount the different axes in any place, as all axes have the same
mounting hole pattern.
2
Number of In general, you can add up to 8 axis modules to a power supply module. After consulta- 3
modules in the axis tion with SEW-EURODRIVE, it is possible to add more.
system 4
Two-row With a special DC link connection, you can install the axis system in two rows, which is 5
configuration advantageous for narrow control cabinets (e.g. in narrow SRS aisles). Contact SEW-
EURODRIVE in such cases.
6
Connection of the A connection kit is available for connecting a safety-related BST brake module to
safety-related BST MOVIAXIS®. 7
brake module
8
10
11
12
13
14
15
16
17
18
19
20
21
22

System description
1.6.2 Two-row configuration of the axis system

A two-row configuration of the axis system is particularly suited for "two-level" installa-
tion in a narrow control cabinet. This configuration can only be realized with a special
DC link connection.
An example for two-row configuration is the installation in the narrow aisles of a high-
bay warehouse.
If your application requires two-row configuration of your axis system, please contact
SEW-EURODRIVE.
The following figure shows an example of a two-row configuration of MOVIAXIS® mod-
ules.
[1]
[3] [3]
[2] [4] [4] [4]
[5] [6]
2936855691

System description
1
The following MOVIAXIS® modules can be combined: 1

• [1] One MXM master module,
• [2] One MXR regenerative power module or one MXP power supply module, 2
• [3] A maximum of 4 MXA axis modules of size 1 or size 2,
3
• [4] MXA axis modules of size 1 – 6,
• [5] One line choke for MXR,
4
• [6] One line filter for MXR.
The number and size of the modules are determined in project planning. 5
Accessories are listed in chapter "Installation and connection accessories" (page 63).
6
Scope of delivery For the described two-row configuration, an assembly kit is supplied.
[3] 7
8
[4]
9
[2]
[1] 10
[6]
11
12
13
14
15
16
17
The assembly kit contains: 18

• [1] Three prefabricated cables for the DC link connection,
• [2] Two insulators,
19
• [3] Six conductor bars,
20
• [4] One signal bus connection,
• [5] Screws, small parts, 21
• [6] Two protection caps.
22

System description
1.6.3 Connection of a safety-related BST brake module

A connection kit is available for connecting a safety-related BST brake module to
MOVIAXIS®. This connection kit lets you continue the DC link via terminals to supply up
to 8 BST brake modules with power.
The safety-related BST brake module can be connected to the following MOVIAXIS®
modules:
• MXP.., MXP81 power supply module
• MXR81 supply and regenerative module
In an axis system, a power supply module can be combined with the following
MOVIAXIS® modules:
• MXA axis module
• MXC capacitor module
• MXB buffer module
• Master module
Scope of delivery
[1]
+U PE [5]
z
[4]
-U
z
[6]
[3]
[2]
6214414731
[1] Insulator [4] DC link connections

[2] Protection cap [5] Conductor rails
[3] Extended fan guard [6] Cable lugs

System description
1
The connection kit includes: 1

• One insulator [1]
• Three conductor rails [5] 2
• One protection cap [2]
3
• Various screws.
The cable lugs [6] are not included in the scope of delivery.
4
1.6.4 Combination and communication options with and without master module 5
MOVIAXIS® can be integrated in automation and control structures in two different
ways.
6
1. With optional fieldbus interfaces or the CAN-based application bus CAN2,
2. Master modules with CAN-based system bus SBus or EtherCAT®-compatible sys- 7
tem bus SBusplus for connection to the axis modules.
• One axis system with MOVIAXIS® 8
• Several MOVIAXIS® axis systems with each other
9
Without master module – MOVIAXIS® connection via fieldbus interfaces or via CAN-based application bus
CAN2
10
Communication This type of communication offers communication paths via PROFIBUS cards,
paths EtherCAT® fieldbus cards, or axis-integrated CAN2 with DS301 profile.
11
Fieldbus The individual fieldbuses are connected directly to the axis modules using the specified
connection plugs of the respective fieldbus. For PROFIBUS, for example, there are axis drivers / S7 12
function blocks available for easy integration.
13
MOVILINK® This type of connection is very lean and enables the use of all axis-integrated motion
control and technology functions. MOVILINK®, the SEW fieldbus profile, can be used for
14
all fieldbus types.
MOVILINK® always uses the same message format independent of the selected inter-
face (CAN2-Bus, RS232, RS485, fieldbus interfaces). Hence the control software does
15
not depend on the selected interface.
16
17
18
19
20
21
22

System description
Variants without The following table shows the individual connection variants with the main criteria for ap-
master module plication adaptation. Communication cables are listed in chapter "System bus and con-
nection cables – optional accessories" (page 66).
Without With axis-inte- Fields of application Data backup Fieldbus communi- Axis communica-
option card grated option cation tion
card
DS301 profile
CAN-based according to CIA,
application drive control via Via CAN2
bus CAN2 MOVILINK® proto-
col
Simple control of
Via higher-level According to PRO-
Without MOVIAXIS®, fieldbus Via SBus (CAN1)
XFP PROFIBUS controller or FIBUS specifica-
master operation, use of inte- for all axes or
card separate DHE in tion, axis driver for
module grated technology CAN2
UOH housing S7 available
functions
According to
EtherCAT® specifi- Via SBus (CAN1)
XFE Ethernet
cation, drive control for all axes or
card
via MOVILINK® pro- CAN2
tocol
Without With axis-inte- Parameterization Control system Standard cabling Optional/addi-

option card grated option access tional system bus
card cable
Centrally via D-sub
- Connection cable
CAN-based 9 SBus (CAN1)
Via external CAN CAN2 for 3 axes,
application access at power -
controller for 4 axes, terminat-
bus CAN2 supply module for
ing resistor CAN2
all axes
Centrally via D-sub
9 SBus (CAN1)
Connection cable
access at power
XFP PROFIBUS Via external PRO- CAN2 for 3 axes, 4
Without supply module for
card FIBUS controller axes, terminating
master all axes or directly
resistor CAN2
module at each axis via All SBus (CAN 1)
CAN2 cables of the axes
Centrally via D-sub are included in the
9 SBus (CAN1) scope of delivery
Connection cable
access at power Via external
XFE Ethernet CAN2 for 3 axes, 4
supply module for EtherCAT® control-
card axes, terminating
all axes or directly ler
resistor CAN2
at each axis via
CAN2

System description
1
With master module – MOVIAXIS® connection – fieldbus network gateway or MOVI-PLC® motion control 1
The most powerful and cost-effective way to integrate MOVIAXIS®
in control and auto-
mation structures is using the master module and the gateways. The master module it- 2
self offers different variants and communication options. The master module can also
be connected to higher-level controllers as "slave element" via common networks and
fieldbuses. 3
Three types of system internal communication are described below.
4
EtherCAT®, CAN1, The system bus communication with the axes is scalable. You can either use the CAN-
CAN2 based system bus SBus with an expansion option via CAN2 or the optional EtherCAT®- 5
compatible SBusplus.
6
SBus, SBusplus Due to the lean and highly efficient protocol structure of the system bus, the CAN-based
system bus SBus is sufficient in most cases. The EtherCAT®-compatible system bus
SBusplus is recommended for all applications that place extremely high demands on the
7
data volume, speed, and cable length.
8
Variants with mas- The master module variants offer communication and integration options with different
ter module price and function levels. 9
Gate- MOVI- Fields of application Data backup Fieldbus/network Axis module – mas-
way PLC® communication ter module commu-
nication
10
Central fieldbus access for all con-
UFF nected axis modules, switchable for 11
PROFIBUS and DeviceNet
Central network access for all con- With max. 64 PD in 500
UFR
nected axis modules, switchable for ms via gateway (for 12
PROFINET, EtherNet/IP and Mod- control connection)
bus/TCP
OSC
MOVI-PLC® Power access via 1. SBus (CAN1), pos- 13
With EtherCAT®-compatible fieldbus Centrally to sibly CAN2 in addition
mas- SD card in the
Control of all connected axes and mod- With max. 64 PD in 500 2. SBusplus
ter
module functions (robotics, motion control,
master mod-
ule with auto ms via MOVI-PLC® (EtherCAT®-compati- 14
DHF ble, with optional XSE
ule kinematics, PLC) via DeviceNet/PRO- reload controller (for central
FIBUS control connection) system bus card)
Control of all connected axes and mod-
15
ule functions (robotics, motion control,
DHR With max. 64 PD in 500
kinematics, PLC) via EtherNet/IP, Mod-
bus/TCP, PROFINET ms via MOVI-PLC® 16
controller (for central
Control of all connected axes and mod- control connection)
DHE ule functions (robotics, motion control,
kinematics, PLC) via TCP/IP, UDP/IP
17
18
19
20
21
22

System description
Gate- MOVI- Parameter- Control system Standard cabling Optional/additional

way PLC® ization system bus cables
access
Control via DeviceNet or PROFI- - All SBus (CAN1) cables
UFF
BUS controller of the axes are included
in the scope of delivery - Adapter cable CAN2,
Control via EtherNet/IP or Mod-
UFR
bus/TCP or PROFINET controller - Standard EtherCAT® master module** (for tri-
With USB or ple/quadruple adapter)
cables are automatically
mas- DHF TCP/IP to Control of MOVIAXIS® via MOVI- included when order - Connection cable triple
ter master mod- PLC®, MOVI-PLC® as independent includes XSE CAN2 for 3 axes, qua-
mod- DHR ule or CAN2 module controller
ule for each axis - A CAN1 cable from the druple CAN2, 4 axes.
master module to the CAN2 terminating resis-
Control of MOVIAXIS® via MOVI- power supply module is tor
DHE PLC®, MOVI-PLC® as independent always included with the
module controller master module
Three types of system internal communication are described below.
1. CAN-based system bus, SBus

The following figure shows two connected axis systems.
[1] [2]
[3]
0
1
0
1
[4]
0
1
0
1
0
1
0
1
2937124107
[1] CAN connection cable for master module [3] System bus connection cable
[2] Cable for CAN-based system bus SBus [4] Terminating resistor

System description
1
Fast data The individual axis modules are linked with the standard CAN-based system bus 1
exchange between (CAN1). This system bus enables fast data exchange between the individual axes. The
the axes unit profile MOVILINK® 3.0 (or higher) from SEW-EURODRIVE is used for communica-
tion via system bus. Option cards are available for real-time data transfer.
2
The CAN-based system bus is not optional and must always be used because of the
data exchange via the signaling bus. CAN1 is primarily intended for exchanging engi- 3
neering data, such as scope data, loading data sets, downloading firmware, etc.
4
CAN1 is included All system connections for CAN1 communication within an axis block are included in the
in the scope of scope of delivery of the basic unit. 5
delivery
In general, the following communication links can be established:
• MOVIAXIS® with CAN-based system bus SBus 6
• MOVIAXIS® with master module gateway
• ®
MOVIAXIS with master module controller 7
Cabling 8
Length
No. Designation Connection
mm
Grommet color Part number 9
Connection cable for CAN - master mod-
520 0819 6923
ule1)
[1] MXM to MXP Black 10
Connection cable for CAN - master mod-
3000 mm 1811 6205
ule for a removed axis block2)
200 0818 4720 11
230 0819 1549
Cable for CAN- and EtherCAT®-compati- MXP to MXA
[2]
ble SBus system bus3) MXA to MXA
260 Red/green 0818 4739 12
290 0819 1557
350 0818 4747 13
750 0819 7261
[3] System bus connection cable2) MXA to MXP Red/green
3000 0819 8993 14
[4] Terminating resistor SBus3) - - - 0818 9633
1) Included in the scope of delivery of the master module
15
2) Optional
3) Included in the standard scope of delivery. Is listed here for service purposes.
16
17
18
19
20
21
22

System description
System bus connection cable to other SEW units (optional)
[1]
[2] [6]
[4]
[3]
[5]
2937250699
[1] System bus connection cable [4] CAN H orange

[2] Output plug black [5] Terminating resistor
[3] CAN L orange-white [6] Contact shield connection
Cabling
Length
No. Designation Connection Grommet color Part number
mm
Axis system to other SEW 750 0819 7288
[1] Connection cable units, such as MOVIDRIVE® or Black
MOVITRAC®® 3000 0819 7563

System description
1
2. CAN-based application bus CAN2 (optional) 1
9
[2]
10
11
12
[1]
2937253899 13
[1] CAN2 bus
[2] Adapter cable master module to CAN2 14
CAN2 for The CAN2 bus, which is available as standard on the front of the axis module, can be 15
additional tasks used to implement various additional functions. One possibility is to take load off the
CAN1 bus when it is heavily loaded by using the CAN2 system bus simultaneously, e.g.
in connection with the master module variants with fieldbus gateway. This is also possi-
16
ble when using MOVI-PLC® controllers.
Additionally, it is possible to implement targeted cross-communication between individ- 17
ual axis modules for special drive tasks such as master/slave operation, electronic cam,
and so on. 18
In addition, the individual axes can also be configured via CAN2 and addressed directly
via a CAN USB adapter. 19
The system connections for the CAN2 system bus are available as accessories.
In general, the following communication links can be established: 20
• MOVIAXIS® with CAN-based application bus CAN2
• MOVIAXIS® with master module gateway
21
• MOVIAXIS® with master module controller
22

System description
Cabling
Length
mm
Connection cable for CAN-based applica-
3 × 210 1810 1585
tion bus CAN2 – 3 modules
[1] MXA to MXA
Connection cable for CAN-based applica-
4 × 210 1810 1593
tion bus CAN2 – 4 modules
[2] Adapter cable master module to CAN2 MXM to MXA 500 1810 1607
CAN2 terminating resistor - - - 1810 1615

System description
1
3. EtherCAT®-compatible system bus SBusplus 1

The EtherCAT®-compatible system bus SBusplus
(XSE24A) is an optional, axis-internal
expansion module. This module implements the functionality of an EtherCAT®-compat- 2
ible high-speed system bus for MOVIAXIS®. The XSE24A option module is no fieldbus
interface. It cannot be used for communication with non-SEW EtherCAT® masters.
3
plug connection on the top of the unit included in the standard scope of delivery.
4
The CAN system bus is not available when XSE24A is used.
The XSE24A is part of the unit variant MXA8.A-...-503-0E, see chapter "MXA axis mod- 5
ules / unit data" (page 23).
The following figure shows two connected axis systems:
6
[3]
[2]
7
8
[4]
[1] 9
10
0
1
0
1 11
0
1
12
13
0
14
1
0
1
0
1 15
16
17
18
19
9007202192108811 20
[1] System bus connection cable (optional) [3] Connection cable for CAN- and EtherCAT®-compati-
ble system bus Available in 5 different length, see
table (page 53). 21
[2] CAN connection cable for master mod- [4] MXA8.A-xxx-503-00 /XSE24A
ule (included in the scope of delivery of or
the master module)
MXA8.A-xxx-503-0E
22
Cabling

System description
Length
mm
750 1810 0287
[1] Connection cable MXA to MXP Yellow/green
3000 0819 4971
Connection cable for EtherCAT® master
[2] MXM to MXP 750 Yellow/black 1810 0279
module

System description
1
System bus connection cable to other SEW units 1
[1]
6
0
1
0
1 7
0
1
[2] [3] 8
[4]
9
10
11
12
2937482891
[1] System bus connection cable [3] Input plug green, RJ45 13
[2] Output plug yellow [4] SEW stations with SEW EtherCAT® interface
14
Cabling
No. Designation Connection

Length
Grommet color Part number 15
mm
750 1810 0287
[1] Connection cable MXA (yellow) to SEW units (green)
3000
Yellow/green
0819 4971
16
17
18
19
20
21
22

System description
Communication with MOVI-PLC® Power

XSE EtherCAT® option in all axis or supply and regenerative modules
The XSE24A is part of the unit variant MXA8.A-...-503-0E, see chapter "MXA axis mod-
ules / unit data" (page 23).
6739083915
[1] EtherCAT® connection cable [3] Connection cable

[2] Cable f. CAN- and EtherCAT®-compatible SBus system bus [4] MXA8.A-xxx-503-00 /XSE24A
or
MXA8.A-xxx-503-0E
Cabling
Length
mm
Connection cable for EtherCAT® - master
[1] MXM to MXP 750 Yellow/black 1810 0279
module
200 0818 4720
230 0819 1549
Cable for CAN-based and EtherCAT®-compat- MXP to MXA
[2] 260 Red/green 0818 4739
ible SBus system bus1) MXA to MXA
290 0819 1557
350 0818 4747
MXA (yellow) to 750 1810 0287

[3] Connection cable Yellow/green
SEW units (green) 3000 0819 4971
Referring to [1]: You can also use a standard Ethernet patch cable of cat. 5e (shielded),
e.g. for remote installation of MOVI-PLC® Power.

System description
1
OSCMB EtherCAT®-CAN gateway in the master module 1
[1] 2
[2]
3
4
[3]
5
6
0
1
7
0
1
0
1
0
1
9
0
1
10
1
11
12
13
7403166987
[3] Cable for CAN-based and EtherCAT®-compatible SBus 14

[1] EtherCAT® connection cable
system bus
[2] CAN connection cable f. master module
15
Cabling
Length
16
mm
[1]
Connection cable for EtherCAT® - master
MXM to MXP 750 Yellow/black 1810 0279
17
module
CAN connection cable for master module1) 520 0819 6923
[2] MXM to MXP Black
18
CAN - master module connection cable for a
3000 mm 1811 6205
remote axis block2)
200 0818 4720 19
230 0819 1549
Cable for CAN-based and EtherCAT®-compat- MXP to MXA
[3]
ible SBus system bus3) MXA to MXA
260 Red/green 0818 4739 20
290 0819 1557
350 0818 4747 21
1) Included in the scope of delivery of the master module
2) Optional
22
Referring to [1]: You can also use a standard Ethernet patch cable of cat. 5e (shielded),
e.g. for remote installation of MOVI-PLC® Power.

System description
1.6.5 Combinations of MOVIAXIS® axis systems with MOVIAXIS®, MOVIDRIVE®, MOVITRAC®

In addition to the combination options and flexibility within the axis system, MOVIAXIS®
with the master module as the central element allows for further connection and instal-
lation options:
1. Communication can be connected on the basis of the CAN-based system bus SBus
and optionally of the CAN-based application bus CAN2
• Several MOVIAXIS® axis systems (page 52)
• MOVIAXIS® axis systems with MOVIDRIVE® and MOVITRAC® 07 (page 54)
2. Communication is connected on the basis of the EtherCAT®-compatible system bus
SBusplus
• Several MOVIAXIS® axis systems (page 57)
• MOVIAXIS® axis systems with MOVIDRIVE® and MOVITRAC® 07 (page 59)
All installation variants can integrate existing SEW control cabinet inverters, such as
MOVIDRIVE® and MOVITRAC® with the respective system buses (SBus, SBusplus) and
their communication, data storage, and control.
The required, additional system bus and connection cables are assigned to the individ-
ual installation variants.

System description
Installation and connection accessories
1
1.7 Installation and connection accessories 1

1.7.1 Standard accessories
2
Standard accessories are included with the basic unit at delivery.
10
11
12
13
14
15
16
17
18
19
20
21
22
9007202205751307

System description
1 Installation and connection accessories
The mating connectors for all connections are installed at the factory. An exception are
D-sub connectors, which are supplied without mating connector.
Assignment table for standard accessories – Mechanical accessories

18 182 18 18 18 18 18 18 18 18
Accessory 21 0 20 1821 21 20 20 1821 21 20 21 20
1820 2616 1820 2632
pack 08 268 26 7583 74 33 33 8598 74 29 39 30
64 3 32 00 10 10 35 77 87 00
Dimen- MXP in kW MXR MXA in A

No. MXM MXZ MXS MXC MXB
sion1) 10 10E2) 25 50 75 2 4 8 12 16 24 32 48 64 100
Electronics shield clamp
[1] 60 mm 1x 1x 1x 1x 1x
[2] 90 mm 1x 1x 1x 1x 1x 1x
[3] 120 mm 1x 1x
[4] 150 mm 1x 1x 1x 1x 1x
[5] 210 mm 1x
Power shield clamp
[6] 60 mm 1x 1x 1x 1x 1x 1x 1x 1x
3)
[7] 60 mm 1x
[8] 60 mm4) 1x
[9] 105 mm 1x 1x 1x 1x
[10] 105 mm 1x 1x 1x
Cable terminals
[11] 3x
Support
1x 1x
1) Length of the cables: Length of the bulk cables without plugs
2) MXP81A power supply module with integrated braking resistor
3) Terminal with short support, 60 mm wide
4) Terminal with long support, 60 mm wide
Assignment of power shield plate to the modules and part numbers.

Module Part number of power shield plate
MXP8.A-10.. 08182809
MXP80A-025.. 18102956
MXP80A-50, 75..
18102921
MXR8.A-50, 75..
MXA80A-002, 008, 012, 016 08182809
MXA80A-024 08182809
MXA80A-032 18102956
MXA80A-048, 064, 100 08184542
For the dimensions of the power shield plates, refer to chapter "Technical data of the
modules" (page 106).

System description
1
Assignment table for standard accessories – Electric accessories 1

18 18 18 18 18 18 182
Accessory 20 21 1821 21 1820 21
1820 2624 1820 2640
20 20 0 1821 2
pack 52 10 7591 10 3329 86 29 98 301 3006
24 03 03 01 85 23 9
Dimen- MX MX MX MXP in kW M MXA in A MX MX 3

No.
sion1) M Z S 10 10E2) 25 50 75 XR 2 4 8 12 16 24 32 48 64 100 C B
24 V supply cable 4
[12] 40 mm 1x
[13] 50 mm 1x 1x 1x 1x
5
[14] 80 mm 1x 1x 1x 1x 1x 1x
[15] 110 mm 1x 1x 1x
6
[16] 140 mm 1x 1x 1x 1x 1x
[17] 200 mm 1x 1x
DC link connection
7
[18] 76 mm 3x 3x 3x 3x
[19] 106 mm 3x 3x 3x 3x 3x 8
[20] 136 mm 2x 3x 3x
[21] 160 mm 3x 3x 3x 3x 3x 3x 9
[22] 226 mm 3x 3x
Connection cable for CAN-based system bus SBus / EtherCAT ®-compatible system bus SBusplus 10
[23] 200 mm 1x 1x 1x
[24] 230 mm 1x 1x 1x 1x 1x 1x 11
[25] 260 mm 1x 1x
[26] 290 mm 1x 1x 1x
12
[27] 350 mm 1x 1x
CAN connection cable for master module
13
[28] 750 mm 1x
CAN terminating resistor
[29] 1x 1x 1x 1x 1x 1x
14
Touch guard
[30] 2x 2x 2x 2x 2x 15
Measurement cable connector
[31] 1x 16
1) Length of the cables: Length of the bulk cables without plugs
2) MXP81A power supply module with integrated braking resistor 17
18
1.7.2 Accessories for two-row configuration of the axis system
19
Module Part number
Two-row configuration 1823 1896
20
1.7.3 Accessory connection kit for BST brake module 21
Module Part number

22
Connection kit for BST brake module 2820 5952

System description
1 Installation and connection accessories
1.7.4 System bus and connection cables – optional accessories (overview)
[1] [6]
[2]
[7]
[3] [8]
[4] [9]
[10]
[5]
[11]
9007202205688459

System description
1
Assignment table for optional accessories 1
No. Dimensions / designation / connector type Part number

2
System bus connection cable CAN (axis system to axis system)
[1] 750 mm 2 × RJ45 (special assignment) 0819 7261 3
[2] 3000 mm 2 × RJ45 (special assignment) 0819 8993
System bus connection cable for CAN-based system bus SBus (axis system with other SEW units) 4
750 mm RJ45 / open end 0819 7288
[3]
3000 mm RJ45 / open end 0819 7563 5
CAN connection cable for master module - power supply module
520 mm 1 × RJ45 + 1 × Weidmüller (scope of delivery of master module: either CAN or EtherCAT®) 0819 6923 6
[4]
3000 mm 1 × RJ45 + 1 × Weidmüller 1811 6205
EtherCAT® connection cable for master module - power supply module
7
[5] 750 mm 2 × RJ45 (scope of delivery of master module: CAN or EtherCAT®) 1810 0279
System bus connection cable for EtherCAT®-compatible system bus SBusplus (axis system to other SEW
units and axis system to axis system) 8
[6] 750 mm 2 × RJ45 (special assignment) 1810 0287
[7] 3000 mm 2 × RJ45 (special assignment) 0819 4971 9
Adapter cable master module to CAN2
[8] 500 mm Weidmüller to Sub-D9 w 1810 1607 10
Connection cable for CAN-based application bus CAN2
[9] 3 modules Sub-D9 m/w 1810 1585 11
[10] 4 modules Sub-D9 m/w 1810 1593
CAN2 terminating resistor
12
[11] Sub-D9 1810 1615
Other accessories
13
Assembly kit for temperature sensor, see following figure 1823 6448
Assembly kit for temperature sensor TF/TH.

14
15
16
17
18
19
20
21
22

System description
1 Technology and unit functions
1.8 Technology and unit functions

1.8.1 Control modes, machine control, and auto-tuning
CFC control mode (current-mode flux control)
Characteristics MOVIAXIS® uses a high-performance, current-controlled control mode for synchronous
and asynchronous servomotors. This control mode was optimized and further devel-
oped particularly for highly dynamic servo applications. Encoder feedback is necessary
to ensure this performance.
This control mode offers the following features:
Advantages • Torque up to the permitted maximum motor torque, even at standstill.

• Maximum precision and concentric running characteristics right down to standstill.
• Maximum servo characteristics and torque control even for standard asynchronous
AC motors.
• Highest dynamic properties of the speed and position control loops due to short sam-
pling cycles up to 250 μs and maximum, effective bandwidth.
Machine control
32-bit CPU This results in higher positioning dynamics for the user with very low lag error. The
control values for the torque, speed and position control loops are exactly calculated by
the internal profile generators with the accuracy of a 32-bit floating point system.
This is a decisive factor for precise travel to the target position with maximum dynamic
properties. Reactions to load variations within milliseconds provide optimal control of the
drive along the setpoint curves.
The "floating point" function can calculate curve transitions between cams during the run
time to ensure optimal transitions.
Torque and speed precontrol

Precontrol values for speed and torque setpoints are integrated for very fast responses
to control deviations that do not run through the entire control loop.
Non-linear torque characteristic curve and standardization to nominal motor data

Consideration of non-linear torque characteristics of highly utilized servomotors is
another important feature.
Advantage: Maximum stiffness of the motor over the entire torque range.
All torque settings and actual torque values refer to the nominal motor torque, and thus
directly to the application. When using a larger inverter, the proper motor values will still
be selected.

System description
Technology and unit functions
1
Motor inductance compensation 1

In modern, tooth-wound servomotors with high utilization (e.g. CMP motors), the induc-
tance is changed via the impressed motor current. In case of high overload, this can lead 2
to suboptimal motor control unless this behavior is compensated by the inverter.
MOVIAXIS® compensates this change in real-time, ensuring extreme control perfor- 3
mance and dynamics even in the limit range of motor operation. The advantages are a
higher degree of motor utilization, more power, and safe operation in limit ranges with
maximum stiffness. 4
Temperature compensation during operation of asynchronous motors 5

Temperature compensation is possible to increase the torque accuracy when operating
asynchronous motors. A KTY sensor evaluates the motor temperature and refines the 6
parameters that map the copper heating.
Advantage: Very exact torque control for asynchronous motors can be implemented 7
very easily.
8
Application and system limits
For optimum protection of the application or the processed goods and the 9
machine/system, you can set limit values for speed, acceleration, and jerk separately in
MOVIAXIS®.
10
This allows you to constantly adapt the application limits to different processed goods
while the system limits reflect the maximum permissible load limits of the mechanical
components. 11
Switched integrators 12
The freely parameterizable, precontrolable, and switched integrators provide optimal
control results especially in case of changing loads, or load take-over in hoists, for 13
example. As a result, the drive can be started up with optimal stiffness right after it is
switched on.
14
Active control value management
15
Active control value management further optimizes the positioning times. When the
drive reaches the control value limit, it uses the acceleration that is just possible to reach
the target position without overshoots. In normal control loops, deviations would occur 16
due to the I-component in the controller, which would have to be compensated with a
transient motion. This needs more time than positioning at the control limits. 17
Advantage: MOVIAXIS® uses this function whenever loads greater than the projected
values can occur, which would overload the control ranges of the servo inverter. Even
18
in such cases, positioning times are optimized and long transient processes are
prevented.
19
Speed limitation with torque control
Even with torque control, this function ensures that certain speed limits are not ex- 20
ceeded. The drive can be kept in a target speed range without overspeeding.
21
4-quadrant operation
The torque limits for all 4 quadrants can be set or specified independently of each other, 22
depending on the selected FCB. This means possible accelerations can be realized
separately for each movement cycle, e.g. for critical storage and retrieval operations or
special removal operations.

System description
Automated startup and controller optimization

Auto-tuning / easy tuning
2951355531
Two easily adjustable sliders are used to set an optimum controller setting for each axis.
Using two advanced algorithms, the two controllers influence various parameters of the
control loops.
To put it simply: The first slider, "Clearance of load", influences all relevant parameters
for the load clearance, e.g. how "stiffly" the load is coupled mechanically to the drive mo-
tor.
The second controller, "Stiffness", influences the stiffness of the controller, e.g how
strongly the system reacts to control deviations.
In this way, the desired behavior can be set easily and without in-depth control technol-
ogy knowledge.

System description
1
Expert tuning 1
2951358731 10
Based on the schematic representation, the control loops can also be set manually for
very sophisticated drive tasks. 11
Graphical setting aids and interactive menus that are selected directly in the illustration
plus setting diagrams that visualize the made settings allow experts to access and mod- 12
ify all relevant controller data.
13
1.8.2 Motion control and technology functions
General target position monitoring 14
MOVIAXIS® checks a target position before movement starts to determine whether it is
in the permitted (software limit switch) travel range. If it is out of range, an error signal is 15
issued. The error response is the parameterized error response of the software limit
switches. The positioning process is not started.
16
17
18
19
20
21
22

System description
Dual drive The "dual drive" function is a special form of synchronous operation. Its objective is to
distribute the load under special basic conditions, e.g. position synchronicity, crash
safety.
Seen from the outside, the drives operated in a system are given a speed setpoint.
Within the axis system, the drives are all synchronous in terms of position.
The following features are offered:
• Parallel speed setpoint specification by the controller to all connected axes
• Ensuring position synchronicity of 2, 3, or 4 drives (motors), which are run in this op-
erating mode together.
• Ensuring synchronicity even in case of
• Overload of one or more axes when the torque control limit is reached or when
the lag error builds up for the specified torque setpoint,
or
• Failure of an axis due to an error.
This feature was developed for special cases of application without rigid coupling of the
axis mechanics. No rigid coupling can lead to tension and damage to the mechanical
components if this function is not used.
For this reason, special position balancing controllers are integrated in all MOVIAXIS®
axis modules, which constantly calculate and balance the position deviation between
them and all other axes when the "dual drive" function is activated.
The maximum control limit of the weakest drive or of the drive with the heaviest load is
used as a limit value for the drive group.
This offers the following user benefits:
• Operation of several motors on a non-rigidly coupled mechanical system, absolutely
position-synchronous and gentle on the mechanics.
• Under certain conditions, critical mechanical systems can be designed smaller
and lighter, as they no longer have to be dimensioned for crash cases.
• High degree of crash protection of machines and tools.
• Failure of a drive and the synchronous consequences for all other drives are de-
tected almost in real time. This ensures almost no strain in the drive train, which
means no unintended machine load or damage.
• Maximum acceleration and dynamics of coupled systems, as the intelligent control
limit management ensures maximum utilization without risking an overload of the in-
dividual axes.
• The drive performance of a machine can be precisely scaled by using several
smaller drives, compared to using corresponding larger motors.

System description
1
Jerk-limited profile generator 1

MOVIAXIS® has a jerk-limited profile generator. This jerk-limitation feature is required
in particular with highly-dynamic positioning processes to position the axes with the 2
relevant dynamic properties and to protect the mechanical machine components.
In contrast to MOVIDRIVE®, the jerk can be entered as a direct value with the unit 3
"rpm/s2" (revolutions per minute/s2).
This value is then converted internally into the corresponding filter time and used to limit 4
the increase in acceleration. The following formula applies:
Filter time = MAX (acceleration, deceleration) / jerk value. 5
The length of the acceleration is extended to include this filter time and therefore also
the speed increase and positioning time. This superficial disadvantage is more than
6
compensated for in most applications thanks to the protection of the mechanical
components and the reduced vibrations.
The following values can be changed during a positioning process without having to
7
adjust the jerk value:
• New target / overwrite position / sensor-based positioning, 8
• New maximum/minimum speed.
9
The acceleration and deceleration values can also be changed, but because the jerk
time remains constant in this case, the actual jerk will change. This function should only
be used when compatibility with the mechanical components has been checked. 10
If the value "0" is entered as the jerk, jerk limitation is deactivated and linear ramps are
used for movement. 11
In position signal The "in position" signal can only be activated as a subfunction of the FCB "Positioning" 12
in positioning mode (FCB 09 "Positioning is activated").
13
Hysteresis for The "In position" monitor uses two windows to activate and deactivate the "In position"
position window signal.
14
If the actual position is in the inner window when the monitoring function is active, this
signal is activated. The signal is only revoked when the drive leaves the outer window.
If the drive with the same target position enters the inner position window again, the 15
signal is activated again.
Thanks to this hysteresis, a small window can be used to activate the "In position" signal 16
even for when the drive overshoots the actual position.
17
4 kHz operation for all axes 400 mm high
In the context of the further development of MOVIAXIS®, the axis modules with a height 18
of 400 mm have been qualified for operation with a PWM of 4 kHz.
If MOVIAXIS® is operated in this way, all axes can be run with 33% higher continuous 19
current up to a rotational frequency of 0.1 Hz. Below a rotational frequency of 0.1 Hz,
the continuous output current must be reduced linearly to 100% of the nominal unit cur-
rent. 20
Example: Axis module MXA80A-100-503-00
21
Nominal unit current = 100 A at 8 kHz.
Continuous unit current = 133 A at 4 kHz.
22
Reduction for rotational frequency < 0.1 Hz to 100% nominal unit current = 100 A.

System description
Software and hardware limit switches

A certain travel range of a drive can be monitored using hardware limit switches.
If hardware limit switches are not installed, or if, for example, an early warning alarm is
to be activated when a specific position is exceeded, the software limit switches
integrated in MOVIAXIS® can be activated.
Each limit switch (left or right software limit switch) can be activated/deactivated
independently of one another. Furthermore, the source of the software limit switches
(encoder 1 - encoder 3) can also be set. If the drive hits one of the two software or hard-
ware limit switches, it reacts using one of the responses set by the user.
Software and hardware limit switches basically react in the same way. In order to enable
the monitoring function, the appropriate encoder must be referenced.
Reference travel In the same way as MOVIDRIVE® B, MOVIAXIS® offers a number of options for refer-
ence travel. The reference travel type "Reference to fixed stop" is new.
The aim of reference travel is to reference/match the drive and its position data with the
machine design. Referencing is used to identify the real zero point of the drive. This
value is then used to define distances necessary for positioning processes, for example.
MOVIAXIS® offers the following reference travel types:
• Left zero pulse
• Left end reference cam
• Right end reference cam
• Limit switch right
• Limit switch left
• No reference travel I
• Reference cam flush with right limit switch
• Reference cam flush with left limit switch
• No reference travel II
• High-precision referencing to left fixed stop
• High-precision referencing to left fixed stop
The reference travel types differ according to the first search direction or the switching
contact (reference cam, limit switch or fixed stop) used for referencing. Reference travel
can apply to all three encoders.
Using the reference point determined by reference travel, the machine zero point can be
changed using the reference offset according to the following equation.
Machine zero = reference position - reference offset

System description
1
Basic control modes 1

MOVIAXIS® usually operates with the CFC control mode for asynchronous and
synchronous motors with encoder feedback. MOVIAXIS® can be operated in the basic 2
control modes torque, speed and position control. This means that the customer can
activate closed-loop control circuits where they are most suitable for the application.
MOVIAXIS® can be implemented in a wide range of applications and, in many cases, 3
can take on all the tasks of a motion controller.
4
Torque control
MOVIAXIS® can be run as a torque-controlled axis. 5
The user can specify limit values for speed, acceleration and jerk as the basic conditions
for torque control. The actual torque setpoint for the drive controller is generated in the 6
controller cycle by a ramp generator integrated in MOVIAXIS® using the specified limit
values.
7
The maximum speed can be limited during torque control. The speed limit can be
changed dynamically using process data.
8
Interpolated torque control
9
For applications with a higher-level (motion control) controller, this controller usually cal-
culates a track profile (x, y, z) for several drive axes. The axis is then assigned one set-
point (position, speed, torque) that it has to follow. MOVIAXIS® only limits the setpoints 10
using the unit's internal system limits. The application limits for speed, acceleration and
jerk must be taken from the track curve and are then controlled by the controller. 11
The cycle in which the controller sends the setpoints to the axes does not usually corre-
spond with the setpoint processing cycle of MOVIAXIS® (500 µs). If MOVIAXIS® were 12
to "see" the same controller setpoint for several cycles, a step-shaped actual torque
value would result. To prevent this from happening, the axis can calculate intermediate
values (interpolate) if it knows the controller cycle. MOVIAXIS® can be set to different 13
cycle times of higher-level controllers.
14
Speed control
MOVIAXIS® can be run as a speed-controlled axis. 15
The user can specify limit values for acceleration, deceleration and jerk as the basic con-
ditions for speed control. The actual speed setpoint for the drive controller is generated 16
in the controller cycle by a ramp generator integrated in MOVIAXIS® using the specified
limit values.
17
The user can configure several data sets (instances, and therefore speed controllers
with different settings) for the speed control function. Users can switch between the in-
stances using process data or parameter access. 18
In this way, for example, a process, in which speed controllers with different settings are
used, is simple to implement using the instance switchover function. 19
20
21
22

System description
Interpolated speed control

point (position, speed, torque) that it has to follow.
MOVIAXIS® only limits the setpoints using the unit's internal system limits. The applica-
tion limits for speed, acceleration and jerk must be taken from the track curve and are
then controlled by the controller.
However, torque limitation at the drive is desirable, e.g. to protect the machine and for
applications that use the speed control to move to a stop and that have to generate
clamping pressure.
The controller can specify the torque limit using process data or parameters. A lag error
can occur when the track curve requires a higher torque rating.
The user can configure the torque limitation:
1. One limit value for all the quadrants of the N-M diagram.
2. One value each for the regenerative and motor range.
3. A limit value is set for each quadrant.
spond with the setpoint processing cycle of MOVIAXIS® (500 µs). If MOVIAXIS® were
to "see" the same controller setpoint for several cycles, a step-shaped actual speed
value would result.
To prevent this from happening, the axis can calculate intermediate values (interpolate)
if it knows the controller cycle. MOVIAXIS® can be set to different cycles of higher-level
controllers.
Position control (normal or modulo mode)

MOVIAXIS® has a number of positioning mode. These modes are described briefly in
the following section. FCB "Positioning" can be instanced to a maximum of 64 times.
Absolute The position setpoint in user units is interpreted as an absolute target and is converted
positioning and executed in system units.
The travel range in system units is ± (231 - 2). If this travel range is exceeded after the
conversion, the FCB issues an error.
Relative The position setpoint in user units is interpreted as the offset for the last setpoint that
positioning was transferred. After it has been converted into system units, it is added to the last
setpoint.
If the target calculated in system units is outside the travel range of ± (231 - 2), the FCB
issues an error.
Modulo in positive The position setpoint in user-defined units is interpreted as the absolute position. It must
direction with be within the modulo range of the active drive:
absolute position
Lower limit = "Modulo underflow"
setpoint
Upper limit = "Modulo overflow"
If the position setpoint is outside this range, an error is issued. The drive always turns in
a positive direction to reach the specified position.

System description
1
Modulo in positive The position setpoint in user-defined units is interpreted as the offset for the last setpoint 1
direction with that was transferred. After it has been converted into system units, it is added to the last
relative position setpoint.
setpoint
2
The position setpoint must be positive, otherwise an error is issued.
The drive always turns in a positive direction to reach the new position. 3
Modulo in nega- The position setpoint in user units is interpreted as the absolute position. It must be 4
tive direction with within the modulo range of the active drive:
absolute position Lower limit = "Modulo underflow"
specification 5
If the position setpoint is outside this range, an error is issued. The drive always turns in 6
a negative direction to reach the new position.
7
Modulo in nega- The position setpoint in user units is interpreted as the offset for the last setpoint that
tive direction with was transferred. After it has been converted into system units, it is added to the last set-
relative position point. 8
specification
The position setpoint must be negative, otherwise an error is issued.
9
The drive always turns in a negative direction to reach the new position.
Modulo with short- The position setpoint in user units is interpreted as the absolute position. It must be 10
est distance with within the modulo range of the active drive:
absolute position Lower limit = "Modulo underflow" 11
specification
12
If the position setpoint is outside this range, an error is issued.
The direction of the drive is determined using the last setpoint position ( = current actual
13
position after activation without an "In position" message) and the current setpoint posi-
tion. This value is used to determine the shortest possible route and, therefore, the di-
rection of rotation for positioning. 14
Modulo with rela- The position setpoint in user units is interpreted as the offset for the last setpoint that 15
tive position speci- was transferred. After it has been converted into system units, it is added to the last set-
fication point.
16
The sign of the position setpoint determines the direction of rotation of the drive.
17
Interpolated position control
18
point (position, speed, torque) that it has to follow.
MOVIAXIS® only limits the setpoints using the unit's internal system limits. The applica-
19
tion limits for speed, acceleration and jerk must be taken from the track curve and are
then controlled by the controller. 20
spond with the setpoint processing cycle of MOVIAXIS® (500 µs). If MOVIAXIS® were 21
to "see" the same controller setpoint for several cycles, a step-shaped actual position
value would result.
22
To prevent this from happening, the axis can calculate intermediate values (interpolate)
if it knows the controller cycle. MOVIAXIS® can be set to different cycles of higher-level
controllers.

System description
Jog mode MOVIAXIS® has a position-controlled jog mode function; this means it is possible to
move an axis in positive or negative direction, for example, for alignment purposes in
position control mode using two adjustable speeds for each direction. The advantage
of this function is that it can be used with hoist applications for which the position is not
permitted to change when a change in load occurs when the drive is at a standstill.
Hold control The hold control function integrated in MOVIAXIS® enables the axis to be held subject
to position control once it has come to a standstill. The actual position reached at speed
"0" (capture position) is used as the "setpoint position" for hold control.
The hold control function can be activated from "any" motion state.
FCB hold control
Speed control Position control
n setpoint
Xactual
Hold control
requirements
Capture position
2951678347
User-defined units for all process data

In contrast to MOVIDRIVE® B, MOVIAXIS® offers customers the option of using the
controller to send process output data for position, speed, acceleration, and torque to
MOVIAXIS® in user-defined units.
In the axis, this process data is converted into internal units (basis: increments) in the
setpoint cycle of a minimum of 500 µs. The same process applies to the process input
data returned from MOVIAXIS® to the controller. The data for position, speed, or accel-
eration are converted into the customer's user units.
The big advantage for customers and PLC programmers is that they do not have to
convert the complex physical conditions in the machine into SEW-specific units in their
programs.
Customers can simply select the units most suitable for their applications and send them
as specifications to MOVIAXIS®.
For example, customers can specify the following:
• For the position: Compartments, packages, bottles
• For the speed: Bottles/minutes, bags/second
• For the acceleration: Bags/second2, compartments/min×s

System description
1
Application and system limit values 1

The entry of application and system limits in user-defined units allows the user to set lim-
its for acceleration and velocities separately. They are set once according to the maxi- 2
mum load of the mechanics of machinery (machine limit value) and according to the
product (application limit value). This protects the product and the machine and/or sys-
tem in the best way possible. These limits can be set using the graphical user interface 3
of MOVITOOLS® MotionStudio.
4
10
11
12
2951745547
13
For more information on this topic, refer to the operating instructions, chapter "Descrip-
tion of the startup software".
For detailed information about the technology functions, refer to the manual
14
"MOVIAXIS® Technology Functions".
15
®
Electronic cam A high-performance electronic cam functionality is integrated in MOVIAXIS . Basic
data: 16
• A max. of 10240 curve points can be distributed between a max. of 40 curves.
• User-defined sequence of curves (this means curve points can be located closer to 17
one another if required).
• Parameterizable curve transition events, e.g. C-track, input terminals, timer- 18
controlled, control word, which can also be used as startup signals.
• Transition functions between curves calculated during the runtime (e.g. 5th degree 19
polynomial).
• Modulo cam (infinite gear ratios). 20
• Different curve types can be selected (e.g. speed curves and torque curves are also
possible). 21
22

System description
Synchronous operation/electronic gear unit

The functionality of an electronic gear unit is available as an independent, easy-to-use
function outside the cam.
It offers the following features:
• The slave path can be defined by the user.
• Clutching curves with a 5th degree polynomial are possible.
• Many options for intervention and overlaying.
Virtual encoder The virtual encoder integrated in MOVIAXIS® offers the following operating types and
basic functions:
• "Endless" operating mode
• "Positioning" operating mode
• "Modulo" operating mode
• Jerk limitation.
Touch probe
MOVIAXIS® offers a touch probe function that has significantly more recording options
for events and data than the standard touch probe functionality.
The following basic functions are included:
• Edge changes (pos./neg.) and the duration of a signal can be used for evalua-
tion/event recognition.
• The specified events can be stored in a ring buffer with 4 different channels and max.
4 storage positions per channel. In this way, signals can occur in quick succession
and be stored in an intermediate buffer for further processing.
• The dependencies of the event recognition (edge, duration) can be combined with
one another, e.g. the event is only recognized when a specific edge change and
signal duration are present.
• All positions are saved for each event.
1.8.3 Basic functions, installation and wiring

Brake control system
Three-wire brake The three-wire brake with accelerator coil can be used for DR, CMPZ, and CFM brake-
with accelerator motors.
coil
With this brake type, the brakes are controlled using brake rectifiers. Recommended
brake rectifiers:
• BMK
• BME
• BST - Supply from the DC voltage of the DC link.
24 V holding brake The 24 V holding brake can be used for CMP motors.
In every application, a holding brake can be controlled via a customer relay with varistor
overvoltage protection or via the BMV brake control unit from SEW-EURODRIVE.
Direct brake con- If the system complies with the following specifications for direct brake control, a BP
trol brake (holding brake) can also be controlled directly via the brake output of a
MOVIAXIS® servo inverter.

System description
1
Specifications for direct brake control: 1

• Only BP brakes of the CMP40 – 71, CMS/CMSB50 – 71 motor types are permitted.
• Expressly excluded are brakes of the motor types CMP80 and greater, CMPZ mo- 2
tors, and all non-SEW brakes.
• Only prefabricated brakemotor cables from SEW-EURODRIVE must be used. 3
• The brakemotor cable must be shorter than 25 m.
4
Digital inputs and outputs
MOVIAXIS® has 9 digital inputs and 4 digital outputs. One of the digital outputs is 5
assigned as the output stage enable, and all outputs can be used as touch probes.
6
Electronic motor nameplate
The electronic nameplate of SEW motors with relevant motor and gear unit data is 7
supported (if implemented).
8
Encoder evaluations in the basic unit
The following encoders can be evaluated using the encoder evaluation function inte- 9
grated in the MOVIAXIS® basic unit:
• Hiperface® encoder 10
• Sin/cos encoder
• TTL encoder 11
• Resolver (2 – 12 pole pairs)
12
Standards and approvals
• The following approvals have been granted for the MOVIAXIS® modules: See 13
chapter "Technical data" (page 98).
• Safe disconnection of power and electronic connections according to EN 61800-5-1 14
and EN 61800-5-2.
• Compliance with all the requirements for CE certification of machines and plants 15
equipped with MOVIAXIS® on the basis of the EC Low Voltage Directive 2006/95/EC
and the EMC Directive 2004/108/EC. Complies with the EMC product standard
16
EN 61800-3.
• Meets the following safety categories: See chapter "Functional safety / "Safety tech-
nology" (page 88).
17
18
19
20
21
22

System description
1.8.4 Communication profiles

Depending on the used system buses "CAN-based" or "EtherCAT®-compatible", the fol-
lowing communication profiles are possible:
Profile CAN-based sys- EtherCAT®-compatible CAN-based application
tem bus, SBus system bus SBusplus bus CAN2
MOVILINK® x x x
EtherCAT® axis profile x
CANopen x
MOVILINK® MOVILINK® always uses the same message format independent of the selected inter-
face (CAN-based system bus, RS232, RS485, fieldbus interfaces). Hence the control
software does not depend on the selected interface.
1.8.5 Energy saving functions and grid compatibility

Saving energy In addition to energy consumption, which is already optimized in synchronous servomo-
tors due to their operating principle, the handling of the braking energy is key.
During the development of MOVIAXIS®, this topic was paid special attention. Options
for re-using the braking energy were developed in order to significantly improve the
overall energy balance of a drive solution and to save costs.
MOVIAXIS® offers different modules with different purposes, which are defined by the
application. Decisive criteria are the repetition rate of a movement (cycle, dynamics) and
the size of the load (inertia). According to this, there are different application areas with
a recommendation for the individual energy-saving modules, see table below.
Very dynamic applica- Dynamic applications Reduced dynamics
tions with fast cycle
times
Lower axis output Saving energy Saving energy Regenerating energy
MXP811) MXC / MXP81 MXR2)
Large servo axes, Saving energy Saving energy Regenerating energy
medium loads MXC3) MXC MXC / MXR
(Continuously oper- Saving energy Regenerating energy Regenerating energy
ated) power axes,
heavy loads MXC MXR MXR
1) 10 kW compact power supply module

2) Supply and regenerative module
3) optional capacitor module

System description
1
The following comparison gives an overview of the MOVIAXIS® energy saving modules 1
with their main application data and customer benefits:
Product
Product pur-
Power
Energy stor- Braking resis-
Application Customer benefits
2
pose age tor
• No complex
10 kW nominal 220 W nominal
• Very dynamic
installation 3
Power supply servo application
MXP81A-010 200 Ws • All-in-one unit
module 25 kW peak 25 kW peak • Compact automa-
• Energy efficient
tion
• Low heat build-up 4
• Intermediate • Modular unit that
Active energy energy storage can be adapted
MXC
storage module
- 1000 Ws -
• Applications with • Energy efficient 5
medium power • Low heat build-up
• Energy recycling
• Applications with 6
• Energy regenera-
medium and high
MXR80A-075 Supply and 75 kW nominal Regenera- tion
power
regenerative tive power Optional • Low heat build-up
MXR81A-075 module 150 kW peak supply
• High mass
• Minimized har-
7
moment of inertia
monics
• Start/stop appli-
cations 8
Grid compatibility and harmonics reduction

9
The quality of the power grid is becoming more and more important due to an increasing
number of electronic consumers. This is critical in the automation plants themselves with
their many electronic units on the one hand, and on the other hand for the energy pro-
10
viders and the grids they supply.
Interference, harmonics, and reactive power must be compensated or filtered addition- 11
ally in critical cases, which can lead to complex requirements (space, maintenance, in-
vestments). 12
MOVIAXIS® offers an ideal solution for this with its sinusoidal supply and regenerative
module MXR80A and its block-shaped supply and regenerative module MXR81A. 13
• Minimized harmonics
• Sinusoidal current consumption with MXR80A 14
• No heating of cables, chokes, etc. (smaller dimensioning of line components)
• Greatly reduced influence on sensitive systems connected to the power grid
15
• Cosφ = 1, pure active power consumption, sinusoidal current consumption with
MXR80A 16
• Controlled DC link voltage with MXR80A
17
• Regenerative operation can be deactivated with MXR81A
Depending on the unit operating mode, an optional EcoLine filter can be used with 18
MXR80A for additional, maximum reduction of harmonics in very sensitive applications.
The positive side effect, in addition to optimal grid compatibility, is the reduction of the
19
necessary transformer power, which also lowers costs.
20
21
22

System description
1.8.6 Diagnostics and scope function

Diagnostics
Energy meter The MXR supply and regenerative module of the MOVIAXIS® series can analyze the
energy flow between the axis system and the supply system, and uses an energy feed-
back meter to determine the amount of energy that has been saved.
8-channel online scope

All unit parameters of MOVIAXIS® can be displayed in the scope of the engineering soft-
ware MOVITOOLS® MotionStudio. This allows for a 360° view of every relevant system
and process variable to detect and remedy errors as quickly as possible.
Per axis, 8 channels are available with max. 2048 values per channel at a resolution of
500 µs. When using fewer channels, the number of values per channel can be
increased.
Advantage: Even system-internal variables are accessible for detailed unit diagnostics;
they can be displayed comprehensively with a high resolution.
Multi-axis scope Furthermore, several axes can be displayed online in a time-synchronized representa-
tion in the diagnostic software of MOVI-PLC® (trace function of multi motion).
Benefits: synchronized representation of the time-related interaction between several
axes allows for optimal diagnostics.
8-channel offline scope

It is also possible to parameterize an offline scope function that processes preset scope
characteristics and saves the results in the axis.
Advantage: User only has to load a pre-programmed scope file on site. Independent
monitoring and recording is possible irrespective of connected PCs and qualified
personnel on site.
The diagnostic functionality is completed by a multi-stage error memory with buffer in
which the most recent errors are saved and made accessible via a log system. Error
patterns can be made visible and used in this way.

System description
1
1.8.7 Monitoring, protection, and test functions 1

Process safety and plannable productivity can only be ensured if the drive is running
reliably and "thinking ahead". The consequences of an unintended system standstill can 2
be dramatic. To prevent this, MOVIAXIS® offers a number of monitoring and check func-
tions.
3
Thermal online monitoring of all SEW motors
4
All SEW motors have a thermal motor model stored in the inverter that is predicated on
a KTY-based initial value. Thermal motor protection is no longer ensured by a switch or
sensor, but via the motor load that is calculated online in the inverter in parallel. This 5
safely prevents a burn-out or medium-term overheating of smaller motors, for example,
which would not be detected by a slow sensor. 6
Maximum utilization of SEW motors with optimal protection.
KTY-based motor models can be realized for non-SEW motors (depending on the non- 7
SEW motor, calibration subject to charge might be required).
In summary, MOVIAXIS® offers the following four methods for thermal motor protection: 8
• TF/TH connection
• KTY that trips after reaching an adjustable limit temperature 9
• KTY with I2t trip (based on motor data that has to be provided for non-SEW motors)
10
• KTY with online calculated motor model (SEW motor only)
Preventive overload detection of the inverter system 11

MOVIAXIS® detects an imminent overload of the inverter using an internal, online cal-
culated simulation of the load situation and offers the user a chance to react before the 12
unit shuts down. Such overload situations can be caused, for example, by a blockage or
mechanical stiffness. 13
One of the following responses to such faults can be selected:
1. Drive continues to execute the cycle until a thermal trip occurs, 14
or
2. Automatic reduction of the output current.
15
Benefit: The drive does not simply shut down, but critical processes can be completed
despite the overload (if possible in terms of thermal utilization), or the process can be 16
continued at a slower speed in favor of production safety.
In this, not only the output stage, but all critical system areas are constantly monitored, 17
simulated, and evaluated.
• Heat sink 18
• Chip temperature
19
• Temperature rise of the chip
• Overcurrent
20
• Electromechanical components (cables, terminals, etc.)
The monitoring functions are completed by phase failure and short circuit detection, DC 21
link and brake current monitoring, and encoder connection monitoring.
22

System description
Brake test This function is used to check the braking capability of a brake connected to
MOVIAXIS®. A test torque is applied electrically via the motor when the brake is applied.
Even when the brake has passed the brake test, it does not take on any safety functions
as far as machine safety is concerned in combination with MOVIAXIS®.
The brake is only tested in accordance with the set brake test torque. The actual "brake
breakaway torque" is not measured.
MOVIAXIS® supports four test modes:
1. A higher-level controller provides the setpoints and monitoring function for the test.
2. MOVIAXIS® performs a check in both directions compared to the set limit torques.
3. MOVIAXIS® performs a check in positive direction compared to the set limit torques.
4. MOVIAXIS® performs a check in negative direction compared to the set limit torques.
The test torque, test time and the direction of rotation of the test can be set. If a test is
not passed, the breakaway torque is documented.
The brake is considered to be "ok" when the motor shaft does not move more than 10°.
This is a fixed value.
IMPORTANT: The function does not check whether a brake is actually installed. If the
brake test is activated when a brake is not installed, the drive will move depending on
the brake test mode.
Brake monitoring
If the MOVIAXIS® axis modules control the brakes of the SEW motors directly, the brake
voltage and current are monitored. MOVIAXIS® signals an error if the brakes cannot be
operated correctly due to insufficient current or voltage.
Axis-integrated commutation detection/encoder alignment

Commutation MOVIAXIS® can detect the commutation of a permanent-field synchronous motor and
detection of set the respective offsets and commutation angles for further operation automatically.
permanent-field This is recommended for
synchronous
• Motors with pure incremental encoders without absolute information per revolution,
motors
• Disassembly of the encoder in the field or encoder fault (brake or encoder replace-
ment).
There are two possible methods: Both variants can be activated independently of each
other as separate function blocks (FCB):
Commutation MOVIAXIS® impresses a rotating field for a short time, detects the direction of rotation
detection with rotor with a small rotor movement, and based on this data determines the rotor position and
movement the commutation angle.
This method is recommended for motors in which the rotor can move freely for at least
one mechanical revolution. The load must be disengaged before activating commuta-
tion. Prior to activating this function, you must make sure that the necessary movement
cannot cause any damage or danger.

System description
1
Commutation MOVIAXIS® determines the position of the rotor of the motor on the basis of the avail- 1
detection without able motor parameters, without movement. In this case, special values must be avail-
rotor movement able for the motor. For many SEW motors, these values have already been determined.
They are stored in the SEW motor data base.
2
This function is recommended for directly coupled loads that cannot be disengaged via
an adapter, or not without difficulty. 3
If you want to make use of this function, please contact SEW-EURODRIVE.
4
Controlled stop in case of power failure
5
In case of a power failure, the standard application of a working brake can cause exces-
sive strain in critical applications or sensitive mechanical systems.
To prevent this, MOVIAXIS® can detect a power failure and switch to braking mode de-
6
pending on the application (hoist and/or travel drive). In such cases, MOVIAXIS® is pow-
ered 7
• Either by the braking energy that accumulates in the DC link and via the DC 24 V
switched-mode power supply unit, 8
or
• By an external DC 24 V backup voltage that is independent of the power grid. 9
MOVIAXIS® stops all drives along an adjustable ramp almost to a standstill and then ap-
plies the motor brake. A hoist is slowed down by the gravitational acceleration, and at 10
standstill, when the hoist is at the highest point, the brake is applied.
This allows for a lighter and leaner design or mechanical systems, and critical goods or 11
tools are not damaged.
This function requires additional components and project planning. Please contact 12
SEW-EURODRIVE.
13
Encoder monitoring
With resolvers, sin/cos, and TTL encoders, MOVIAXIS® monitors the failure of track 14
signals caused by faults or cable problems (amplitude monitoring).
If MOVIAXIS® detects an error, then output stage inhibit and brake are activated. 15
Password administration for graded access protection
16
MOVIAXIS® offers a range of parameterization levels for access to the unit parameters.
These levels include write and read authorization or, for example, read only authoriza-
tion. The different levels can be protected by passwords. 17
The passwords can be changed, for example, to allow end customers access to specific
parameters only. 18
At present, the following access levels are available:
19
1. Observer: The parameters can only be read and observed.
2. Planning engineer: A "planning engineer" is a specialist who has complete access to
20
all unit functions (delivery state).
3. OEM: The authorization level OEM-SERVICE can be used, for example, to reset
internal counters or program serial numbers.
21
22

System description
1 Functional safety / safety functions
1.9 Functional safety / safety functions

You find more detailed information on this topic in the publication "Functional Safety" for
MOVIAXIS®.
1.9.1 Functions integrated in the unit

Safety technology can be integrated in the basic unit of the MOVIAXIS® multi-axis servo
inverter. Depending on the unit variant, PL "d" or "e" are met.
The MOVIAXIS® axis modules are available in the following functional variants:
Safety concept
• MOVIAXIS® is characterized by the connection options via a 24 V control voltage
(X7, X8) to a higher-level safety control system, a safety relay. Internal relays and an
electronic logic disconnect all active elements that generate the pulse trains to the
power output stage (IGBT) when the DC 24 V control voltage is disconnected.
• Conecpt for performance level d according to EN ISO 13849-1: One internal
relay (tested according to EN 50205 with positively-driven contact set) and an elec-
tronic logic ensure that the supply voltages required for operating the servo inverter
and consequently for generating a rotating field or pulse patterns (which allow the
generation of a torque) are safely interrupted, preventing automatic restart.
• Concept for protection type III according to EN 201, performance level e ac-
cording to EN ISO 13849-1 and safety integrity level 3 according to IEC 61800-
5-2: Two internal relays (tested according to EN 50205 with positively-driven contact
set) ensure that the supply voltages required for operating the servo inverter and
consequently for generating a rotating field or pulse patterns (which allow the gener-
ation of a torque) are safely interrupted, preventing automatic restart.
• The circuit state has to be transmitted by the respective relay via an NC contact to a
higher-level control system for evaluation.
• Instead of separating the drive galvanically from the power supply using contactors
or switches, the disconnection procedure described here prevents the power semi-
conductors in the servo inverter from being activated, thus ensuring safe disconnec-
tion. This process disconnects the torque for the respective motor. The individual
motor cannot develop any torque in this state even though the line voltage is still
present.

System description
Functional safety / safety functions
1
Safety functions The following, drive-related safety functions can be realized with the axis-integrated 1
safety functions:
2
• Safe torque off (STO)
Safe Torque Off according to IEC 61800-5-2 via disconnection of the safety-related 3
24 V supply
If the STO function is activated, the frequency inverter no longer supplies power to 4
the motor for generating torque. This safety function corresponds to a non-controlled
stop according to EN 60204-1, stop category 0. 5
The safety-related 24 V power supply must be switched off by a suitable external
safety controller or a suitable external safety relay.
6
The following figure applies to safe torque off STO:
7
10
11
2952545675 12
V Velocity
t Time
t1 Point of time when STO is triggered
13
Normal operation
Disconnection range 14
15
16
17
18
19
20
21
22

System description
1 Functional safety / safety functions
• Safe stop 1 (SS1(c))

Safe Stop 1, function variant c according to IEC 61800-5-2 via suitable external con-
trol (e.g. safety relay with delayed disconnection)
The following procedure must be observed for this safety function:
– Deceleration of the drive using an appropriate brake ramp specified via setpoints
– Disconnect the safety-related 24 V power supply (triggering the STO function)
after a specified safety-related time delay.
The following figure illustrates disconnection according to SSI:
2952548491
V Velocity
t Time
t1 Point of time when the motor deceleration is triggered
t2 Point of time when STO is triggered
∆t Application-specific delay
Normal operation
Range of the safety function
Disconnection range
This safety function corresponds to the controlled stop of a drive according to EN 60204-
1, stop category 1.
Restrictions • Important: When using the SS1(c) function as described above, the brake ramp of
the drive is not monitored with respect to safety. In case of a fault, the drive might not
be decelerated after the delay time, or it might be accelerated in the worst case. In
this case, the STO function (see above) is only activated after the set time delay has
passed. You have to take the resulting danger into account when you perform the
risk analysis for the plant/machine, and you have to provide for suitable precaution-
ary measures if required.
• Important: A system/machine-specific risk analysis must be carried out through the
system/machine manufacturer and taken into account for using the drive system with
MOVIAXIS®.
• Important: The safety concept is only suitable for performing mechanical work
on system/machine components.
• Danger of fatal injury: If the 24 V supply voltage is disconnected, the line voltage is
still present at the frequency inverter DC link.
• Important: If work is carried out on the electrical section of the drive system,
the power supply must be disconnected using an external maintenance
switch.

System description
Functional safety / safety functions
1
Units with one safety relay 1

The following axis modules meet performance level d according to EN ISO 13849-1 in
observance of the safety guidelines (conditions): 2
Type designation Nominal current in Size
A 3
MXA81A-0.2-503-0. 2
MXA81A-0.4-503-0. 4 1
MXA81A-0.8-503-0. 8 4
MXA81A-012-503-0. 12
2
MXA81A-016-503-0. 16 5
MXA81A-024-503-0. 24
3
MXA81A-032-503-0. 32
6
MXA81A-048-503-0. 48 4
MXA81A-064-503-0. 64 5
MXA81A-10.-503-0. 100 6
7
Units with two safety relays 8

Observing the safety regulations (conditions), the following axis modules comply with
protection type III according to EN 201, performance level e according to 9
EN ISO 13849-1 or SIL3 according to IEC 61800-5-2:
Type designation Nominal current in Size 10
A
MXA82A-012-503-0. 12
2 11
MXA82A-016-503-0. 16
MXA82A-024-503-0. 24
MXA82A-032-503-0. 32
3 12
MXA82A-048-503-0. 48 4
MXA82A-064-503-0. 64 5 13
MXA82A-10.-503-0. 100 6
14
1.9.2 Optional expansion functions
For applications that require higher safety functions, e.g. "Safely Reduced Speed", the 15
expansion functions described below can be used.
16
MOVISAFE® safety monitor, UCS series
The UCS safety monitors are a modular system with finely graded prices and functions. 17
The safety monitors are installed close to the inverter. They always work together with
an MXA81 or MXA82 axis module. 18
Depending on the selected monitor module (UCS10B,11B,12B,14B1)), you can monitor
individual axes, double axes, up to the entire axis system. In addition to the safe drive
19
functions, you can also read in and program safe peripheral units, e.g. I/O, buttons, light
grids. This can be used to safely design and program complete machine or system mod-
ules in parallel with MOVI-PLC® motion control solutions. 20
A parameter and communication channel between MOVI-PLC®and the master module
allows for connecting both units to only one PROFIBUS/PROFINET port with 21
PROFIsafe® protocol. MOVI-PLC® and the MOVISAFE® monitor communicate via an
integrated diagnostic channel, which ensures integrated and well-linked applications.
22
1) in preparation

System description
1 MOVITOOLS® MotionStudio engineering software
Safety functions The following drive safety functions of IEC 61800-5-2 are covered by the UCS safety
monitors:
Safety function DE Safety functions Abbreviation
Sicher abgeschaltetes Moment Safe Torque Off STO
Sicherer Stopp 1 Safe Stop 1 SS1
Sicherer Stopp 2 Safe Stop 2 SS2
Sicherer Betriebshalt Safe Operational Stop SOS
Sichere Bewegungsrichtung Safe Direction SDI
Sicher begrenzte Geschwindigkeit Safely Limited Speed SLS
Sicher begrenzte Beschleunigung Safely Limited Acceleration SLA
Sichere Geschwindigkeitsüberwachung Safe Speed Monitor SSM
Sicher begrenztes Schrittmaß Safely Limited Increment SLI
Sicher begrenzte Position Safely Limited Position SLP
Sichere Bremsenansteuerung Safe Brake Control SBC
Sicherer Nocken Safe Cam SCA
Customer benefits The combination of MOVIAXIS® and MOVISAFE® safety monitors of the UCS series of-
fers the following advantages:
• All necessary drive safety functions in one system
• Up to performance level "e" for speed-based functions
• Up to performance level "d" for position-based functions
• System can be expanded optionally by adding expansion modules
• Hiperface® and SSI encoder processing
• Can be used for single and multi-axis systems
• Minimal logistic effort, because the combination of an in-stock axis module and an
optional UCS safety monitor can solve a multitude of drive tasks.
1.10 MOVITOOLS® MotionStudio engineering software

MOVITOOLS® MotionStudio is the new engineering software from SEW-EURODRIVE
for use with MOVIAXIS®.
The new MOVITOOLS® MotionStudio is a consistent modular software system for all
drive electronics products from SEW-EURODRIVE. The advantage for the system man-
ufacturer and operator is that only one software package is required for comprehensive
engineering.

System description
®
MOVITOOLS MotionStudio engineering software
1
1
Designation Screenshot Description
2
Configuration and startup: To adapt the inverter to the connected 3

Startup
motor and to optimize the current, speed and position controllers.
A process data object editor for graphic configuration of the 6

PDO Editor
MOVIAXIS® multi-axis servo inverter.
Parameter tree A standardized editor to set parameters for various device types.
9
10
11
Editor for creating user-specific visualizations and application-spe-
Application Builder cific diagnostics. Visualization is connected via file download with 12
the inverter program IPOS and the parameter settings.
13
14
Diagnostics using an oscilloscope program for all SEW-EURO-

Scope
DRIVE inverters.
15
16
17
Technology editor for single- Simple configuration of the MOVIAXIS® multi-axis servo inverter
axis positioning for positioning applications. 18
19
20
Motion technology editor

Editor for easy adaptation of the technology functions to user-spe- 21
cific requirements.
22

System description
1 MOVITOOLS® MotionStudio engineering software
1.10.1 Overview of features

• Application programs to IEC 61131-3 can be used for all products based on the PLC
Editor
• Different communication media and fieldbus systems can be used.
• Handling of projects with several different units (multi-unit perspective).
• Uniform multi-product editors for programming and parameter setting.
• Coordinated IEC libraries concept:
• Basic library
• Motion library
• Application library
• SEW application modules for a large number of applications for parameter setting.
• Editor for creating customer-specific visualizations and application-specific diagnos-
tics.
• Continuity and downward compatibility.
1.10.2 Tools and functionality

PLC Editor Programming the MOVI-PLC® controller series using application programs that are
written once and can be used independently of the unit.
SEW communica- Communication via a server enables

tion server
• Free selection of communication paths,
• Local and central storage of project data,
• Diagnostics and engineering,
• Use of modern remote maintenance technologies.
FCB concept and PDO Editor

Technology editor The technology editor is a kind of "startup software interface" to startup standard appli-
cation functions such as single-axis positioning, electronic cam, etc. A special feature of
this editor is that the user is guided through all the settings and only has to make the
settings required for the specific functionality. Comment and help functions are included.
As a result, the user is offered a complete standard application functionality without a lot
of configuration.
If users want to make more detailed settings, they can do so at any time by running
through the technology editor using the PDO editor.

System description
"SEW WORKBENCH" project planning software
1
PDO Editor The PDO Editor is the central, graphical software tool for editing and configuring FCBs 1
Process Data and the entire unit functionality.
Object Editor
The tool can be used to determine where and which data packages should be retrieved 2
from buses or I/O, how they should be interpreted (control/process data), how they are
used in the unit functions, and how this data is then output again (via bus or I/O).
3
This ensures maximum flexibility when using the MOVIAXIS® functions without any
programming. The graphical structure makes it easy for users to familiarize themselves
with the tool using the intuitive interface. 4
FCB Function The term "FCB concept" describes the modular firmware design of MOVIAXIS®. This 5
Control Block feature ensures that a wide range of functions can be selected or deselected quickly and
easily using control words, no programming is required. 6
All primary functions, i.e. functions that move or control the motors, are designed as
individual FCBs that only have to be selected, for example, to perform positioning tasks.
7
The user can switch between FCBs at any time depending on the requested function.
8
1.11 "SEW WORKBENCH" project planning software 9

"SEW Workbench" provides the user with a central interface to compile complex drive
systems from individual SEW components. It allows the user to create complex drive 10
systems for "control cabinet technology" or "decentralized technology" from SEW com-
ponents such as drives, servo inverters, cables, field distributors, etc. using the drag and
drop function. 11
Key features of "SEW Workbench":
12
• Application selection
• Calculation of gear unit and motor 13
• Price-optimized project planning
• Comparison of different solutions 14
• Recommendation of "best drive" solution
• Inverter calculation 15
• Multi-axis optimization
16
• Configuration of cables and accessories
• Configuration error check
17
• Parts list generation
• Electronic catalog with all products 18
19
20
21
22

System description
1 "SEW WORKBENCH" project planning software
The user has the option to access existing functions and programs such as EKAT, SAP
Configurator and ProDrive as well as to use new functions.
Servo
project
ProDrive DocuFinder DriveCAD
planning
Determining Electronic
oil amounts catalog
Office
Printing interface
2954401675
"SEW Workbench" allows you to perform an initial compatibility check of different com-
ponents, i.e. to determine whether a servo inverter, cable and drive can be configured
and designed for this combination.

System description
"SEW WORKBENCH" project planning software
1
10
11
12
13
14
2954405131
15
1.11.1 SEW Workbench functions
Different catalog functions and project planning functions are available for selecting in- 16
dividual components. Each component is represented in the work area by a graphical
object. The result of the total of the objects together is the drive system. A complete
17
check is performed for all products after the user has created the complete drive system.
The "SEW Workbench" generates a drive system including a product list tested and ap-
proved according to SEW rules.
18
The drive systems (product lists) created in the "SEW Workbench" can be saved as a
project file and called up again. This allows data exchange and further processing by 19
another "Workbench user".
20
21
22

kVA n Technical data
2 f
CE marking and UL approval
i
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2 Technical data
2.1 CE marking and UL approval
The MOVIAXIS® MX multi-axis servo inverters comply with the following directives and
guidelines:
2.1.1 CE-marking
• Low Voltage Directive 2006/95/EC.
• Electromagnetic Compatibility 2004/108/EC.
MOVIAXIS® servo inverters and supply modules are designed as components for
installation in machines and systems. They comply with the EMC product standard
EN 61800-3 "Variable-speed electrical drives". Provided the installation instructions
are complied with, they satisfy the relevant requirements for the CE marking for the
entire machine/system in which they are installed, on the basis of the EMC Directive
2004/108/EC.
• Compliance with limit class "C2" according to EN 61800-3 has been tested on a
specified test setup. SEW-EURODRIVE can provide detailed information on request.
The CE mark on the nameplate indicates conformity with the Low Voltage Directive
2006/95/EC and the EMC Directive 2004/108/EC. We can provide a declaration of
conformity on request.
2.1.2 Approvals of the basic units

The following approvals have been granted for the MOVIAXIS® modules:
MOVIAXIS® module UL / cUL c-Tick
MXP power supply module 10 kW x x
MXP81 power supply module 10 kW x x
MXR supply and regenerative module x x
MXA axis module x x
MXM master module x x
MXS 24 V switched-mode power supply module x x
MXB buffer module x x
MXC capacitor module x x
MXZ DC link discharge module x x
Two-row configuration of the axis system x x
Connection of BST brake module x x
cUL is equivalent to CSA approval.

C-Tick certifies conformity with ACA (Australian Communications Authority) standards.

Technical data kVA n
CE marking and UL approval
f 2
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2.1.3 UL approval of the line components 1

NF.. line filter for MXP power supply module
Independent of the MOVIAXIS® multi-axis servo inverter, the listed NF... line filters have 2
a component approval.
• NF018-503 3
• NF048-503
• NF085-503
4
• NF150-503
5
ND.. line choke for MXP power supply module
6
Independent of the MOVIAXIS® multi-axis servo inverter, the listed ND... line chokes
have a component approval.
7
• ND020-013
• ND045-013
8
• ND085-013
• ND150-013 9
NFR.. line filters for MXR supply and regenerative module 10

Independent of the MOVIAXIS® multi-axis servo inverter, the listed NFR.. line filters
11
• NFR075-503
• NFR111-503 12
NFH.. line filters for MXR supply and regenerative module 13

In conjunction with the MXR units, the NFH line filter is a UL-listed accessory.
14
NDR.. line choke for MXR supply and regenerative module
Independent of the MOVIAXIS® multi-axis servo inverter, the listed NDR... line chokes 15
• NDR075-083 16
• NDR110-083
17
18
19
20
21
22

2 f
Type designation
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2.2 Type designation

2.2.1 Type designation for MOVIAXIS® basic units
The following diagram shows the type designation:
MX A 80 A -004 5 0 3 - 00
00 = Standard version
01-99 = Special design
0E = Axis module with built-in, EtherCAT®-compatible SBusplus
system bus
3= 3-phase connection type
50 = U = AC 380 – 500 V supply voltage
Variants:
004 = For axis modules the nominal current, such as 004 = 4 A
050 = For DC link discharge modules the energy quantity that can
be dissipated, such as 050 = 5000 Ws
010 = For power supply modules the nominal power, such as 010
= 10 kW
050 = For capacitor, buffer and damping modules the capacity,
such as 050 = 5,000 µF
For 24 V switched-mode power supply the power, such as
060 = 060 = 600 W
Version
80 = Sinusoidal regenerative power supply unit MXR
81 = Variant with one safety relay in the MXA axis module
81 = Block-shaped regenerative power supply unit MXR
81 = Compact MXP power supply module (integrated BW and
capacitor)
82 = Variant with two safety relays in the MXA axis module
Unit type:
A= Axis module
B= Buffer module
C= Capacitor module
M= Master module
P= Power supply module with brake chopper
R= Supply and regenerative module1)
S= 24 V switched-mode power supply module
Z= DC link discharge module
MOVIAXIS®
- MXR81"

Type designation
f 2
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Type designation for the axis module: 1

MXA80A-004-503-00 = Axis module with 4 A nominal current
Axis module with 4 A nominal current and integrated SBusplus 2
MXA80A-004-503-0E =
system bus
3
Type designation for the buffer module component
4
MXB80A-050-503-00 = Buffer module with a capacity of
5000 µF
5
Type designation for the capacitor module component 6

MXC80A-050-503-00 = Capacitor module with a capacity of
5000 µF 7
Type designation for master module with fieldbus gateway component: 8

MXM80A-000-000-00/UFF41B = Master module with PROFIBUS/DeviceNet
9
Master module with EtherNet/IP / PROFINET Mod-
MXM80A-000-000-00/UFR41B =
bus/TCP
10
Type designation for master module with controller component:
11
MXM80A-000-000-
= Master module with PROFIBUS/DeviceNet
00/DHF41B/OMH41B
12
MXM80A-000-000- Master module with EtherNet/IP / PROFINET Mod-
=
00/DHR41B/OMH41B bus/TCP
Variants: T0 – T25 13
14
Type designation for the power supply module:
MXP81A-010-503-00 = 10 kW compact power supply module with integrated C and 15
BW
MXP80A-010-503-00 = 10 kW power supply module
16
MXR80A-075-503-00 = 50/75 kW supply and regenerative module, sinusoidal
MXR81A-075-503-00 = 50/75 kW supply and regenerative module, block-shaped
17
Type designation for the 24 V switched-mode power supply module component 18

MXS80A-060-503-00 = 24 V switched-mode power supply module
19
Type designation for the DC link discharge module component: 20

DC link discharge module with an energy quantity of 5000 Ws
MXZ80A-050-503-00 =
that can be dissipated 21
22

2 f
Type designation
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2.2.2 MOVIAXIS® MX communication module option
X __ 11 A
Version
Version status
11 = PROFIBUS
24 = EtherCAT®
Execution:
FP = PROFIBUS DP V1
IO = Digital input/output component
IA = Analog input/output component
FA = K-Net
GH, GS= Multi-encoder card
FE = EtherCAT® fieldbus
SE = EtherCAT®-compatible system bus
Optional components for MOVIAXIS®

General technical data
f 2
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2.3 General technical data 1

The following tables lists the technical data for all MOVIAXIS® MX multi-axis servo in-
verters independent of 2
• Type
• Variant
3
• Size
4
• Power rating
5
MOVIAXIS® MX
Interference immunity Meets EN 61800-3 6
Interference emission with EMC-compliant
Category "C2" according to 61800-3
installation
Ambient temperature ϑamb 0 °C to +45 °C
7
Climate class EN 60721-3-3, class 3K3
Storage temperature ϑL -25 °C to +70 °C 8
Storage period Up to 2 years without special measures
Forced cooling and convection cooling, depending 9
Cooling type (DIN 41751)
on size
Degree of protection EN 60529 (NEMA1)1)
10
Axis modules size 1 - 3 IP20
Axis modules size 4 - 6 IP10
11
Power supply module size 1, 2 IP20
MXP81 power supply module IP20
Power supply module size 3 IP10
12
MXR supply and regenerative module IP10
Master module IP20 13
Switched-mode power supply module IP10
Capacitor module IP10 14
Buffer module IP10
DC link discharge module IP10 15
Two-row configuration of the axis system IP10
Connection of BST brake module IP10 16
Operating mode DB (EN 60034-1)
Pollution class 2 according to IEC 60664-1 (VDE 0110-1)
17
Overvoltage category III according to IEC 60664-1 (VDE 0110-1)
Up to h ≤ 1000 m without restrictions.
The following restrictions apply to heights > 1000 m: 18
Installation altitude
– From 1000 m to max. 2000 m: IN reduction by
1% per 100 m
19
1) The covers on the left and right end of the unit system must be equipped with touch guards. All cable lugs
must be insulated.
20
21
22

2 f
Rear view of housing and bore patterns
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2.3.1 Suitability of standard digital inputs
INFORMATION
It is not permitted to control the standard digital inputs with safety-related (pulsed) volt-
ages (except X7 and X8 at MXA).
2.3.2 24 V supply
For projecting the 24 V supply, see system manual, chapter "Project planning"
(page 408).
2.4 Rear view of housing and bore patterns

Rear view dimensions of MOVIAXIS® MX housing
MOVIAXIS® MX A B C D
mm mm mm mm
MXA8.A-...-503-00 size 1 (2 A, 4 A, 8 A) 60 30 353 362.5
MXA8.A-...-503-00 size 2 (12 A, 16 A) 90 60 353 362.5
MXA8.A-...-503-00 size 3 (24 A, 32 A) 90 60 453 462.5
MXA8.A-...-503-00 size 4 (48 A) 120 90 453 462.5
MXA8.A-...-503-00 size 5 (64 A) 150 120 453 462.5
MXA8.A-...-503-00 size 6 (100 A) 210 180 453 462.5
MXP80A-...-503-00 size 1 90 60 353 362.5
MXP80A-...-503-00 size 2 90 60 453 462.5
MXP80A-...-503-00 size 3 150 120 453 462.5
MXP81A-...-503-00 120 90 353 362.5
MXR80A-...-503-00 / MXR81A-...-503-00 210 180 453 462.5
MXM80A-...-000-00 60 30 353 362.5
MXC80A-050-503-00 150 120 453 462.5
MCB80A-050-503-00 150 120 453 462.5
MXS80A-...-503-00 60 30 353 362.5
MXZ80A-...-503-00 120 90 288 297.5
You find a dimension sheet of the rear view of the housing with variables A, B, C, and D
on the next page.

Rear view of housing and bore patterns
f 2
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1
2)
2) 2
10
2) 11
2)
12
13
14
15
16
17
18
19
20
2955493387
1) Position of tapped hole 21
2)
See table with dimensions (page 104)
22

2 f
Technical data of the modules
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2.5 Technical data of the modules

2.5.1 Technical data of MXP power supply modules
Power section of power supply module sizes 1 – 3
1) 2)
MOVIAXIS® power supply module Size
MXP80A-...-503-00 1 2 3
Type 010 025 050 075
INPUT
Supply voltage AC Vline U V 3 × 380 V - 3 × 500 V ±10
Nominal line current AC Iline I A 15 36 72 110
Nominal power PN P kW 10 25 50 75
Line frequency fline f Hz 50 - 60 ±5%
COMBICON M8 screw bolts
Cross sections and contacts of con- COMBICON PC4
mm2 PC16 pluggable, Max. 70
nections pluggable, max. 4
max. 10
Cross section and contacts at shield
mm2 Max. 4 × 4 Max. 4 × 10 Max. 4 × 50 shielded
terminal
OUTPUT (DC LINK)
Nominal DC link voltage3) VNDCL U V DC 560
4)
Nominal DC link current DC INDCL I A 18 45 90 135
Max. DC link current DC IDCL max Imax A 45 112.5 225 337.5
Overload capacity for max. 1 s 250%
Brake chopper power kW Peak power: 250% × PN ; continuous power: 0.5 × PN
Mean regenerative power capacity kW 0.5 x PN
Cross section5) and contacts mm CU bars 3 × 14 mm, M6 screw fitting
BRAKING RESISTOR
Minimum permitted braking resis-
Ω 26 10 5.3 3.5
tance value R (4-quadrant operation)
COMBICON M6 threaded bolt
Cross sections and contacts of con- COMBICON PC4
mm2 PC16 pluggable,
nections pluggable, max. 4 Max. 35
max. 10
Cross section and contacts at shield
mm2 Max. 4 × 4 Max. 4 × 10 Max. 4 × 16
terminal
Table continued on next page.

f 2
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MOVIAXIS® power supply module

1) 2)
Size 1
MXP80A-...-503-00 1 2 3
GENERAL INFORMATION 2
Power loss at nominal capacity W 30 80 160 280
No. of times power may be switched
min-1 < 1/min 3
on/off
Minimum switch-off time for power s > 10
off 4
Mass kg 4.2 5.7 10.3 10.8
W mm 90 90 150 5
Dimensions: H mm 300 400
D mm 254
6
1) Nameplate information
2) Unit
7
3) The system and output currents must be reduced by 20% from the nominal values for Vline = 3 × AC 500 V.
4) Decisive value for planning the assignment of supply and axis module
5) Material thickness [mm] × width [mm] 8
10
11
12
13
14
15
16
17
18
19
20
21
22

2 f
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Power section of MXP81 compact power supply module

The technical data of the MXP81 power supply module with integrated braking resistor
correspond to those of the power supply module size 1. Deviating data is listed below:
1) 2)
MOVIAXIS® power supply module Size
MXP81A-...-503-00 1
ADDITIONAL CAPACITY OF DC LINK
Nominal DC link voltage U V DC 560
Storable energy W Ws 250
Peak power capacity P kW 20
Nominal capacitance C µF 1000
INTERNAL BRAKING RESISTOR
Effective braking power Peff W 220
Maximum braking power Pmax kW 26
BRAKING RESISTOR (external)
Minimum permitted braking resistance value R (4-quadrant opera-
Ω 26
tion)
Cross sections and contacts of connections mm2 COMBICON PC4 pluggable, max. 4
2
Cross section and contacts at shield terminal mm Max. 4 × 4
GENERAL INFORMATION
Power loss at nominal capacity W 30
Mass kg 4.2
W mm 120
Dimensions: H mm 300
D mm 254
2) Unit
Control section of power supply module

MOVIAXIS® MX power supply module General electronics data
CAN bus to CAN specification 2.0, parts A and
B, transmission technology to ISO 11898, max.
64 stations,
Terminating resistor (120 Ω) has to be imple-
CAN interface1) CAN: 9-pin D-sub connector mented externally,
Baud rate can be set from 125 kbaud –
1Mbaud,
Expanded MOVILINK® protocol,
DC 24 V voltage supply DC 24 V ± 25% (EN 61131)
COMBICON 5.08
Cross section and contacts One core per terminal: 0.20 - 1.5 mm2
Switchover from SBus to SBusplus DIP switch, 4-pole
Shield terminals Shield terminals for control lines available
Maximum cable cross section that
10 mm (with insulating sheath)
can be connected to the shield clamp
1) Only for CAN-based system bus

f 2
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Dimension sheet of MXP8.A-10.. 1
254 2
210,5
3
42,5
4
362,5
8
300
MXP8.A-10... 9
10
11
12
20
13
77
92
14
9243395595
15
16
17
18
19
20
21
22

2 f
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Dimension sheet of MXP80A-025..
254
210,5
42,5
462,5
400
MXP80A-025...
20
117
9243397515

f 2
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Dimension sheet of MXP80A-050, 075.. 1
254
2
210,5
3
42,5
4
462,5
400
10
11
12
MXP80A-50,75...
MXR80A-50,75...
13
14
15
20
16
90
98
17
9243399435 18
19
20
21
22

2 f
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2.5.2 Technical data of MXR supply and regenerative modules

Sinusoidal regeneration with MXR80A
MOVIAXIS® MXR80 Informa-

MXR supply and regenerative module tion on
the Unit
name-
plate
INPUT
Supply voltage AC Vline U V 3 × 400 V – 3 × 480 V ±10%
Nominal line voltage U V 400
75 kW2) I A 110 (@ 4 kHz PWM)
Nominal line current1)
50 kW I A 73 (@ 8 kHz PWM)
Nominal power (motor/regenera- 75 kW2) P kW 75 (@ 4 kHz PWM)

tive) 50 kW P kW 50 (@ 8 kHz PWM)
Line frequency fline f Hz 50 – 60 ±5%
Permitted voltage systems - - TT and TN
M8 screw bolts
Cross section and contacts of connections - mm2
Max. 70
Cross section and contacts at shield terminal - mm2 Max. 4 × 50 shielded
LINE VOLTAGE MEASUREMENT
All 3 phases are picked off between line filter
Measurement -
and choke
Cross section and contacts mm2 Combicon 7.62 3-pole / one core max. 2.5;
OUTPUT (DC LINK)
• Vline up to 400 V: VDCL = 750 V controlled
DC link VDCL1) VDCL V • 400 V < Vline < 480 V: VDCL increases lin-
early from 750 V to 800 V
100 at 4 kHz
Nominal DC link current1) DC IDCL IDCL A
67 at 8 kHz
250 at 4 kHz
Max. nominal DC link current1) DC IDCL max Imax A
168 at 8 kHz
Overload capacity for max. 1s - - 200 %
BRAKING RESISTOR / EMERGENCY BRAKING RESISTOR
Peak power: 250% × PN
Brake chopper power - kW
Continuous power: 0.5 × 75 kW
Minimum permitted braking resistance value R (4-quad-
- Ω 3.5
rant operation)
M6 threaded bolt
Cross section3) and contacts on connections - mm2
Max. 35
Cross section3) and contacts at shield terminal - mm2 Max. 4 x 16
1) Applies to nominal line voltage of 400 V
2) EcoLine filter is mandatory
3) Material thickness [mm] × width [mm]

f 2
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Block-shaped regeneration with MXR81A 1
Informa- Supply and regenerative module

2
®
MOVIAXIS MXR81 tion on
the Unit
Supply and regenerative module name- 50 kW 75 kW 3
plate
INPUT
4
Supply voltage AC Vline U V 3 × 380 V – 3 × 480 V ±10%
Nominal line voltage U V 400
5
Nominal line current1) I A 80 121
Nominal power (motor/regenerative) P kW 50 75
Nominal power in test/emergency mode –
6
P kW 50 75
motoring operation
Nominal power in test/emergency mode –
P kW 25 37.5 7
regenerative operation
Line frequency fline f Hz 50 – 60 ±5 %
Permitted voltage systems – – TT and TN
8
M8 screw bolts
Cross section and contacts of connections – mm2
Max. 70 9
Cross section and contacts at shield termi-
– mm2 Max. 4 × 50 shielded
nal
10
OUTPUT (DC LINK)
DC link VDCL1) VDCL V 560 (non-controlled inverter operation)
1)
Nominal DC link current DC IDCL IDCL A 94 141
11
Max. DC link current1) DC IDCL max Imax A 235 353
Overload capacity for max. 1s – – 250 % 12
BRAKING RESISTOR FOR EMERGENCY OPERATION
Peak power: 250% × PN Peak power: 250% × PN 13
Brake chopper power – kW Continuous power: 0.5 × Continuous power: 0.5 ×
50 kW 75 kW
Minimum permitted braking resistance value
14
– Ω 3.5
R (4-quadrant operation)
Cross section2) and contacts on connec-
– mm2
M6 threaded bolt 15
tions Max. 16
Cross section2) and contacts at shield termi-
– mm2 Max. 4 x 16 16
nal
1) Applies to nominal line voltage of 400 V
2) Material thickness [mm] × width [mm] 17
18
19
20
21
22

2 f
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Control section of MXR80/MXR81 supply and regenerative module
MOVIAXIS® MX
General electronics data
MXR supply and regenerative module
INPUT
COMBICON 5.08
Cross section and contacts
One core per terminal: Max. 1.5 mm2 (with conductor end sleeve)
INPUTS/OUTPUTS
4 digital inputs Isolated (optocoupler), PLC compatible (EN 61131), scanning cycle 1 ms
Internal resistance Ri ≈ 3.0 kΩ, IE ≈ 10 mA
+13 V to +30 V = "1" = Contact closed
Signal level According to EN 61131
–3 V to +5 V = "0" = Contact open
Function DIØ1 – DIØ4: Fixed assignment
2 digital outputs PLC compatible (EN 61131-2), response time 1 ms, short-circuit proof, Imax = 50 mA
Signal level "0"=0 V, "1"=+24 V, Important: Do not apply external voltage!
DOØØ and DOØ1: Fixed assignment
Function DOØ2: Freely programmable
DOØ3: Not connected
COMBICON 5.08
Cross section and contacts One core per terminal: 0.20 – 2.5 mm2
Two cores per terminal: 0.25 – 1 mm2
can be connected to the shield termi- 10 mm (with insulating sheath)
nal
Relays
Relay contact (NO contact)
AC 230 V (max. 300 VA pickup power of line contactor)
Enable contact for line contactor at 1 AC 230 V 2A

Pickup current:
(line contactor control) at DC 24 V 0.5 A
Permitted continuous cur- at AC 230 V

0.5 A
rent: at DC 24 V
Number of switching cycles 200000
COMBICON 5.08
Cross section and contacts
One core per terminal: Max. 1.5 mm2 (with conductor end sleeve)

f 2
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Dimension sheet of MXR8.A-050, 075.. 1
254
2
210,5
3
42,5
4
462,5
400
10
11
12
MXP80A-50,75...
MXR80A-50,75...
13
14
15
20
16
90
98
17
9243399435 18
19
20
21
22

2 f
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2.5.3 Technical data of MXA axis modules

Axis module power section
1) 2)
MOVIAXIS® axis module Size
MXA8.A-...-503-0. 1 2 3 4 5 6
Type 002 004 008 012 016 024 0326) 048 064 100
INPUT (DC link)
Nominal DC link voltage VNDCL U V DC 560
3)
Nominal DC link current INDCL I A 2 4 8 12 16 24 32 48 64 100
Cross section4) and contacts mm CU bars 3 × 14 mm, M6 screw fitting
OUTPUT
Output voltage V U V 0 – max. Uline
Continuous output current AC IN
I A 2 4 8 12 16 32 426) 64 85 133
PWM = 4 kHz5)
I A 2 4 8 12 16 24 32 48 64 100
PWM = 8 kHz5)
I A 1.5 3 5 8 11 13 18 - - -
PWM = 16 kHz5)
Max. unit output current Imax7) Imax A 5 10 20 30 40 60 80 120 160 250
Overload capacity for max. 1 s 250%
Apparent output power SNout8) S kVA 1.4 2.8 5.5 8.5 11 17 22 33 44 69
PWM frequency fPWM kHz Adjustable: 4/8/16; setting on delivery: fPWM=8 kHz
Maximum output frequency fmax f Hz 600
COMBICON Screw bolts Screw bolts
Cross section and contacts of COMBICON PC4 PC16
mm2 M6 M8
motor connections Pluggable, max. 4 Pluggable,
max. 10 Max. 35 Max. 70
Cross section and contacts on

mm2 Max. 4 × 4 Max. 4 × 10 Max. 4 × 35 Max. 4 × 50
motor shield clamp
Suitable for direct operation of brake, short-circuit proof. Exter-
1 digital output
nal 24 V required. See example for maximum load below the
brake control
UBR footnotes.
Brake connection V/A
/ IBR
Signal level: "0" = 0 V "1" = +24 V Important: Do not apply external voltage!
Function: "/Brake" fixedly assigned
COMBICON 5.08
Brake connection contacts One core per terminal: 0.20 – 1.5 mm2
mm2
Two cores per terminal: 0.25 – 1.5 mm2
Shield terminals Shield clamps for brake lines available
Maximum cable cross section
that can be connected to the 10 mm (with insulating sheath)
shield clamp
Table continued on next page. Footnotes on next page.

f 2
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MOVIAXIS® axis module

1) 2)
Size 1
MXA8.A-...-503-0. 1 2 3 4 5 6
Power loss at nominal capacity W 30 60 100 150 210 280 380 450 670 1100
Mass kg 4.2 4.2 4.2 5.2 5.2 9.2 9.2 9.2 15.6 15.6 3
W mm 60 90 90 120 150 210
Dimensions: H mm 300 300 400 400 400 400
4
D mm 254
5
2) Unit
3) With simplification: INDCL = IN (typical motor application)
6
5) For Vline = 3 × AC 500 V, the output currents must be reduced by 20% from the nominal values
6) For a 32 A axis used in line with UL and with a PWM of 4 kHz, the maximum continuous output current is 35 A. 7
7) Indicated values apply to motoring operation. Motor and regenerative have the same peak performance.
8) Applies to a line voltage of 400 V and 50 Hz / PWM = 8 kHz. 8
Notes on brake control 9
INFORMATION 10
Note on tolerance requirement for the brake voltage!
The brake voltage has to be configured. See chapter "Selection of 24 V supply" 11
(page 479).
12
Permitted load of brake control and brake
One complete switching sequence (opening and closing) must not be repeated more 13
often than every two seconds. The brake must remain switched off for at least 100 ms
before it can be switched on again. 14
See also chapter "Direct brake control" (page 80).
15
16
17
18
19
20
21
22

2 f
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Control section axis module

MOVIAXIS® MX axis module General electronics data
COMBICON 5.08
X10:1 and X10:10 digital inputs Isolated (optocoupler), PLC compatible (EN 61131), scanning cycle 1 ms
Internal resistance Ri ≈ 3.0 kΩ, IE ≈ 10 mA
+13 V to +30 V = "1" = contact closed
Signal level According to EN 61131
–3 V to +5 V = "0" = contact open
DIØØ: "Output stage enable" fixedly assigned
Function
DIØ1 - DIØ8: Selection option, see parameter menu
DIØ1 and DIØ2 suitable for touch probe function (latency period < 100 µs)
4 digital outputs PLC compatible (EN 61131-2), response time 1 ms, short-circuit proof, Imax = 50 mA
Signal level "0"=0 V, "1"=+24 V, Important: Do not apply external voltage!
Function DOØØ - DOØ3: Selection option, see parameter menu
COMBICON 5.08
can be connected to the shield termi- 10 mm (with insulating sheath)
nal
Safety relay integrated in unit as option

1 safety relay 2 safety relays
• Category 3 according to EN 954-1:1996 • Category 4 according to EN 954-
X7 and X8: Connection contacts for • Performance level d according to EN ISO 1:1996
safety functions 13849-1:2006 • Performance level e according to
EN ISO 13849-1:2006
• SIL3 according to IEC 61800-5-2:2007
• Protection type III according to
EN 201:1997
Mini COMBICON 3.5
CAN2 interface CAN bus to CAN specification 2.0, parts A

CAN: 9-pin D-sub connector and B, transmission technology to ISO
(Front end CAN) 11898, max. 64 stations,

f 2
i
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Dimension sheet of MXA80A-002, 008, 012, 016.. 1
254
2
210,5
3
42,5
4
362,5
8
300
10
MXA8.A-002, 008, 012, 016...
11
12
20
77
13
92
9243401355 14
15
16
17
18
19
20
21
22

2 f
i
P Hz
Dimension sheet of MXA80A-024..
254
210,5
42,5
462,5
400
MXA80A-024...
20
77
92
9243403275

f 2
i
P Hz
Dimension sheet of MXA80A-032.. 1
2
254
210,5 3
42,5
4
462,5
9
400
10
11
MXA80A-032... 12
13
14
20
15
117
16
9243430795
17
18
19
20
21
22

2 f
i
P Hz
Dimension sheet of MXA80A-048, 064, 100..
254
210,5
42,5
462,5
400
MXA80A-048,064,100...
20
80
97
9243432715

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i
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2.5.4 Technical data for MXM master module component 1
MOVIAXIS® MX master module 1) 2) 2

Size 1
MXM80A-...-000-00
Type 000 3
Supply voltage V U V DC 24 V ± 25% according to EN 61131
COMBICON 5.08 4
Cross section and contacts (X5a) One core per terminal: 0.20 – 1.5 mm2
COMBICON 5.08
5
One core per terminal: 0.20 – 1.5 mm2
Two cores per terminal: 0.25 – 1.5 mm2 6
Cross section and contacts (X5b)
Maximum outer diameter of the cable: 3.5 mm
Recommended connector: MSTB 2.5/4-ST-5.08 BK (Phoenix)
(COMBICON 5.08 with front-end cable output) 7
GENERAL INFORMATION
Mass kg 2.3 8
W mm 60
9
D mm 254
10
Maximum cable cross section that can be con-
10 mm (with insulating sheath)
nected to the shield clamp 11
2) Unit 12
13
INFORMATION
14
For additional technical data, refer to the manuals "MOVI-PLC® advanced DH..41B
Controller", "UFR41B Fieldbus Gateway for EtherNet/IP, Modbus/TCP and PROFI-
NET IO", and "UFF41B Fieldbus Gateway for DeviceNet and PROFIBUS DP". 15
16
17
18
19
20
21
22

2 f
i
P Hz
Dimension sheet of
MXM80A..
254
210,5
42,5
362,5
300
20
2956148363

f 2
i
P Hz
2.5.5 Technical data of MXC capacitor module component 1
1) 2) 2
MOVIAXIS® capacitor module
MXC80A-050-503-00
Type 050 3
INPUT
Nominal DC link voltage VNDCL U V DC 560 4
3)
Storable energy W Ws 1000
Peak power capacity kW 50 5
Cross section and contacts mm CU bars 3 × 14 mm, M6 screw fitting
Capacitance C μF 4920
Time from switching the unit on until it is ready for
operation
s 10 7
Mass kg 12.6
W mm 150 8
D mm 254 9
2) Unit 10
3) With Vline = 3 × AC 400 V
11
Control section of capacitor module
12
MOVIAXIS® MXC capacitor module General electronics data
DC 24 V voltage supply DC 24 V ± 25% (EN 61131) 13
COMBICON 5.08
Cross section and contacts One core per terminal: 0.20 – 1.5 mm2 14
15
16
17
18
19
20
21
22

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i
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2.5.6 Technical data of MXB buffer module component
1) 2)
MOVIAXIS® buffer module
MXB80A-050-503-00
Type 050
INPUT
Nominal DC link voltage3) VNDCL U V DC 560
Cross section and contacts mm CU bars 3 × 14 mm, M6 screw fitting
GENERAL INFORMATION
Capacitance C μF 4920
Time from switching the unit on until it is ready for
s 10
operation
Mass kg 11
W mm 150
D mm 254
2) Unit
3) At Vline = 3 × AC 400 V

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i
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2.5.7 Technical data of MXS 24 V switched-mode power supply module component 1
MOVIAXIS® 24 V switched-mode power supply 1) 2) 2

module
MXS80A-...-503-00
3
Type 060
INPUT via DC link
4
Nominal DC link voltage VNDCL U V DC 560
Cross section3) and contacts CU bars 3 × 14 mm, M6 screw fitting
INPUT via external 24 V
5
DC 24 -0% / +10% - with direct brake control
Nominal input voltage UN U V
DC 24 ±25% (EN 61131) - with brake control via brake switchgear 6
PC6
Cross section and contacts mm2 One core per terminal: 0.5 – 6
7
Two cores per terminal: 0.5 – 4
OUTPUT
DC 3 x 24 (shared ground) Tolerance for supply via DC link: DC 24
8
Nominal output voltage V U V 0% / +10% tolerance for supply via external 24 V: According to
input voltage
9
Nominal output current I I A 3 × 10 4)
Nominal output power P P W 600
COMBICON 5.08
10
Cross section and contacts mm2 One core per terminal: 0.20 – 1.5 mm2
Two cores per terminal: 0.25 – 1.5 mm2 11
GENERAL INFORMATION
Backup time for VDCL drop5) t s Nominal power for 10 ms
12
Efficiency About 80 %
Mass kg 4.3
13
W mm 60
D mm 254
14
2) Unit 15
4) Not possible at the same time because total power is limited to 600 W 16
5) Valid for the following measuring point: 10 ms are guaranteed for an edge steepness of the falling DC link voltage of (dVDCL / dt) > (200
V / 1 ms). Applies for a line voltage Vline of 3 × AC 380 V.
17
18
19
20
21
22

2 f
i
P Hz
Dimension sheet of
MXS80A..
254
210,5
42,5
362,5
300
20
2956222731

f 2
i
P Hz
2.5.8 Technical data of MXZ DC link discharge module component 1

Power section of DC link discharge module
MOVIAXIS® DC link discharge module 1) 2) 2
Size 1
MXZ80A-...-503-00
Type 050 3
INPUT (DC link)
Nominal DC link voltage3) VNDCL U V DC 560 4
4)
Cross section and contacts CU bars 3 × 14 mm, M6 screw fitting
Convertible energy E E J 5000
5
OUTPUT
Braking resistor R R Ω 1
6
Discharge connection Specific screw fitting by SEW
Cross section and contacts mm2 M6 screw bolts, max. 4 × 35
Connection to power shield clamp mm 2 Max. 4 × 16
7
GENERAL INFORMATION
Ready for operation after connecting to the power 8
grid s ≤ 10
and the 24 V supply
9
Ready for operation after short circuit s Application-dependent
Repeatability of quick discharge s 60
Duration of quick discharge s ≤1
10
Shutdown temperature °C 70
Mass kg 3.8 11
W mm 120
Dimensions: H mm 235 12
D mm 254
1) Nameplate information 13
2) Unit
3) The line and output currents must be reduced by 20% from the nominal values for Vline = 3 × AC 500 V. 14
15
Control section of DC link discharge module
MOVIAXIS® DC link discharge mod- 1) General electronics data
16
ule
Inhibit Control signal for discharge process (low active)
17
DC 24 V voltage supply V DC 24 ± 25% (EN 61131-2)
COMBICON 5.08
Cross section and contacts mm2 One core per terminal: 0.20 – 1.5 mm2 18
Temp. Evaluation signal for connection to an axis module (connection to digital inputs); 19
switching current ≤ 50 mA
1) Unit
20
21
22

2 f
i
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Dimension sheet of
MXZ80A..
254
210,5
42,5
297,5
235
20
77
2957099275
2.5.9 Two-row configuration of the axis system – technical data

The following table lists only the data that deviates from the technical data listed above
due to two-row configuration.
MOVIAXIS® MX
Degree of protection according to EN 60529 IP10
Connection cross section of the DC link connection 35 mm2
Screw fitting at cable lug M8
Tightening torques
Retaining screws of the cover 2.5 – 3 Nm
Retaining screws of conductor bars at insulator 2.5 – 3 Nm
Retaining screws of the DC link connections 3 – 4 Nm

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2.5.10 Connection kit for BST brake module – technical data 1

The following table lists only the data that deviates from the technical data listed above
due to the installation of a BST brake module. 2
MOVIAXIS® MX
3
Degree of protection according to EN 60529 IP10
Depending on customer require- 4
Connection cross section of the DC link connection ments: M8 cable lug with necessary
cable cross section ≥ 2.5 mm2
Screw fitting at cable lug M8
5
Tightening torques
Retaining screws of the cover 2.5 – 3 Nm 6
Retaining screws of conductor bars at insulator 2.5 – 3 Nm
Retaining screws of the DC link connections 3 – 4 Nm 7
10
11
12
13
14
15
16
17
18
19
20
21
22

2 f
Technical data of option cards for axis modules and regenerative modules
i
P Hz
2.6 Technical data of option cards for axis modules and regenerative modules
2.6.1 Technical data of XFP11A communication option
Description The XFP11A communication module is a PROFIBUS slave module for direct integration
into MOVIAXIS® axis modules. The XFP11A PROFIBUS card is used for directly con-
necting axis modules to PROFIBUS-capable control systems. Only one XFP11A
PROFIBUS card can be installed per axis module.
XFP11A option
Part number 1820 4341
Power consumption P = 2.5 W
PROFIBUS protocol vari-
PROFIBUS DP and DP-V1 to IEC 61158
ants
Automatic baud rate
9.6 kBd – 12 MBd
detection
• Via 9-pin D-sub connector
Connection technology
• Pin assignment acc. to IEC 61158
Not integrated, implement using suitable PROFIBUS plug with terminat-
Bus termination
ing resistors that can be switched on.
Station address 0 – 125, can be set via DIP switch
• SEW_6006.GSD (PROFIBUS DP)
Name of GSD file
• SEWA6003.GSD (PROFIBUS DP-V1)
DP ID number 6006hex = 24582dec
• Length: 9 bytes
Application-specific • Hex parameter settings 00,00,00,06,81,00,00,01,01 = DP diagnostics
parameterization data alarm = OFF
(Set-Prm-UserData) • Hex parameter settings 00,00,00,06,81,00,00,01,00 = DP diagnostics
alarm = ON
Diagnostics data • Standard diagnostics: 6 bytes
Tools for startup • PC program MOVITOOLS® MotionStudio

f 2
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2.6.2 Technical data of EtherCAT® fieldbus interface option 1

®
Description of The XFE24A fieldbus interface is a slave module for connection to EtherCAT networks.
XFE24A Only one XFE24A fieldbus interface can be installed per axis module. The XFE24A field- 2
All standards of the ETG (EtherCAT® Technology Group) are supported, such as wiring.
This means the cables must be wired at the front by the customer. 3
4
XFE24A option (MOVIAXIS®)
XFE
Standards IEC 61158, IEC 61784-2

5
I O
F1
Baud rate 100 MBd full duplex

RUN
ERR
Connection technology 2 × RJ45 (8x8 modular jack)
Lnk
Lnk
IN
OUT
Bus termination Not integrated because bus termination is automatically activated.
6
EtherCAT OSI layer Ethernet II
Station address Setting via EtherCAT® master 7
IN
X30
Vendor ID 0x59 (CANopenVendor ID)

• CoE (CANopen over EtherCAT®) 8
OUT
®
EtherCAT services
• VoE (simple MOVILINK® protocol or EtherCAT®)
X31
Firmware status of
MOVIAXIS®
Firmware status 21 or higher 9
Tools for startup • PC program MOVITOOLS® MotionStudio from version 5.40
10
Description of You find a description of the option XSE24A – EtherCAT® compatible system bus
XSE24A SBusplus in chapter "Installation" (page 604). 11
12
13
14
15
16
17
18
19
20
21
22

2 f
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2.6.3 Technical data of K-Net communication option

Description
The XFA11A (K-Net) communication module is a slave module for connection to a serial
bus system for high-speed data transfer. No more than one XFA11A (K-Net) communi-
cation module may be installed per MOVIAXIS® MXA axis module.
Terminal assign-
ment
Terminal Assignment Brief description
K-Net connection (RJ45

X31:
socket)

X32:
socket)
INFORMATION
You can select either connector X31 or X32 as input or output.
Technical data
K-Net
Power consumption 2W
Galvanic isolation No
Bus bandwidth Max. 50 Mbit/s
Connection technology 2xRJ45
Max. cable length per section 50 m
Transmission medium CAT7 cable
Interfaces K-Net: Front

Serial bus
No electrical isolation
K-Net properties Bus bandwidth with max. 50 Mbit/s
Connection technology with two RJ45 sockets
Transmission medium CAT7 cable
Card properties Installation in MOVIAXIS® MX servo inverter with housing
widths as of 60 mm
INFORMATION
The power and current data refer to DC 24 V. The losses of the internal switched-mode
power supply units have been taken into account.

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2.6.4 Technical data of XIO11A, XIA11A input/output option 1

Description
The input/output modules XIO11A/XIA11A are digital or digital/analog hybrid option 2
modules. They can be used to read or send both digital and analog signals from the
servo inverter. 3
X25
X21
5
X26
X22
XIO XIA
6
Digital hybrid mod-
ule XIO11A
7
General information
Supply voltage DC 24 V ± 25%, 4 A1) (EN 61131-1) 8
Supply of IOs from the front
Addressing via 16-digit address switch (positions 1 and 3 only)
9
COMBICON 5.08
Connection contacts One core per terminal: 0.20 – 2.5 mm2
Two cores per terminal: 0.25 – 1 mm2 10
Inverter power consumption 0.6 W
Digital inputs 11
Number of inputs 8
Input type Type 1 according to EN 61131-2 12
Filter 500 Hz
Voltage range for "1" 15 V ≤ UH ≤ 30 V
13
Voltage range for "0" -3 V ≤ UL ≤ 5 V
Processing time 1 ms
14
Electrical isolation Yes
Digital outputs
Number of outputs 8
15
Output type Digital outputs according to EN 61131-2
Nominal voltage DC 24 V 16
Nominal current 0.5 A 17
Power loss 0.1 W with nominal current (Ron max: 400 mΩ)
Inductive load capacity 100 mJ at max. 1 Hz 18
Protection device Short circuit and overload protection
Electrical isolation Yes 19
1) Maximum current of 4 A must be fused externally.
20
21
22

2 f
i
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XIA11A ana-
log/digital hybrid
General
module
Supply voltage DC 24 V ± 25%, 2 A (EN 61131-1)
Supply of IOs from the front
Addressing via 16-digit address switch (positions 1 and 3 only)
COMBICON 5.08
Connection contacts One core per terminal: 0.20 – 2.5 mm2
Two cores per terminal: 0.25 – 1 mm2
Inverter power consumption 0.7 W
Analog inputs
Number of inputs 2
Input range ±10 V
Input type differential
Conversion cycle 1 ms
Resolution 12 bit
Electrical isolation No
Maximum permitted permanent overload +30 V against GND
Input impedance > 20 kΩ (ΕΝ 61131)
Accuracy (at 25 °C) ± 0.2%
Measuring error temperature coefficient 100 ppm SKE1)/ °C
Input filter limit frequency 250 Hz
Analog outputs
Number of outputs 2
Output range ±10 V
Conversion cycle 1 ms
Resolution 12 bit
Electrical isolation No
Output load Min. 1 kΩ
Accuracy (at 25 °C) ± 0.1%
Measuring error temperature coefficient 100 ppm SKE1)/ °C
Minimum rise time (0 – 10 V) 100 µs
Digital inputs
Number of inputs 4
Input type Type 1 according to EN 61131-2
Filter 500 Hz
Voltage range for "1" 15 V ≤ UH ≤ 30 V
Voltage range for "0" -3 V ≤ UL ≤ 5 V

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Digital outputs 1
Number of outputs 4
Output type Digital outputs according to EN 61131-2 2
Nominal voltage DC 24 V
Processing time 1 ms 3
Nominal current 0.5 A
Power loss 0.1 W with nominal current (Ron max: 400 mΩ)
4
Inductive load capacity 100 mJ at max. 1 Hz
Protection device Short circuit and overload protection
5
1) SKE = maximum scale value
6
10
11
12
13
14
15
16
17
18
19
20
21
22

2 f
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2.6.5 Technical data of XGS11A, XGH11A multi-encoder card option

Description
XGH XGS
XGS, XGH multi-encoder card Unit
Power consumption via integrated supply bus (without con-

W 2
nected encoder)
Output current for supplying connected encoders mA 500
Peak output current Imax for 400 ms mA 650
When using 2 encoder cards, the total current must be limited to 800 mA.
• HTL encoders can be operated using an HTL → TTL interface adapter. The part
number of the interface adapter is 0188 1809.
• Single-ended HTL encoders can be operated using an HTL → TTL interface adapter.
The part number of the interface adapter is 0188 1876.
• Resolvers cannot be evaluated with the multi-encoder card.
Technical data and characteristics of the differential input X61:

• Differential analog input: ± 10 V.
• Resolution: 12 bits.
• Update every 250 μs.
The input can be used as
• Speed setpoint
• Torque control
• Torque limitation
Technical data and characteristics of X62:

• RS422.
• Maximum frequency: 180 kHz.
• Simulation output is based on the motor or option encoder, can be selected via unit
parameters.
• Rectangular PPR count can be freely selected in powers of two from 26 – 212 [pulse
periods / revolution].
• Encoder signals can be multiplied.
• The maximum possible speed depends on the rectangular PPR count to be emu-
lated:
PPR count Maximum possible speed in min-1
64 – 1024 No limit
2048 5221
4096 2610

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2.6.6 Technical data of DWI11A 1

Connection of TTL encoder to XGH, XGS multi-encoder cards
TTL encoder The following encoders can be connected at X63, X64 (external encoder input): 2
• DC 5 V TTL encoder with DC 5 V voltage supply type ES1T, ES2T, EV1T, EV2T or
EH1T via DWI11A option or encoder with signal level to RS422 3
DC 5 V voltage The TTL encoders with a DC 5 V voltage supply (ES1T, ES2T, EV1T, EV2T or EH1T) 4
supply must be connected via the "DC 5 V encoder power supply type DWI11A" option (part
number 822 759 4).
5
Connecting TTL encoders via DWI11A to XGH, XGS as a motor encoder:
XGH, X63/64: max. 5 m 6
1 YE
1 DWI11A
GN
15
9 6 7
8 2 RD
2
10 BU
7
3 PK
3 6
1 8
11 GY
8
WH
X1:
15 9
9 BN
9 5 9
1 8 5
BK
VT
10
쵰 쵰
ES1T / ES2T / EV1T/ EV2T / EH1T max. 100 m
YE 1
11
GN 6 5
9
RD
BU
2 12
7
X2: Encoder
PK 6 1
3
GY 8 13
WH 9
BN 5
VT* 4*
14
쵰 쵰
2960659211 15
* Connect the sensor cable (VT) on the encoder to UB, do not jumper on the DWI11A!
16
Part numbers of the prefabricated cables:
17
• Hiperface® option, type XGH, XGS X63 / 64: → DWI11A X1:
– For fixed installation: 817 957 3 18
• Encoders ES1T, ES2T, EV1T, EV2T, EH1T → DWI11A X2: Encoder
– For fixed installation: 198 829 8 19
– For cable carrier installation: 198 828 X
20
21
22

2 f
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DC 5 V encoder supply type DWI11A

The part number of the DC 5 V encoder power supply option type DWI11A is: 822 7594
Description If you are using an incremental encoder with a DC 5 V encoder power supply, install the
DC 5 V encoder power supply option type DWI11A between the inverter and the incre-
mental encoder.
This option provides a regulated DC 5 V power supply for the encoder. For this purpose,
the DC 12 V power supply for the encoder inputs is converted to DC 5 V by means of a
voltage controller. A sensor line is used to measure the supply voltage at the encoder
and compensate the voltage drop along the encoder cable.
Incremental encoders with DC 5 V encoder power supply must not be connected directly
to the encoder inputs X14 and X15. This would cause irreparable damage to the en-
coder.
INFORMATION
If a short circuit occurs in the sensor cable, the connected encoder may be exposed
to a voltage higher than permitted.
Recommendation Use prefabricated cables from SEW-EURODRIVE for the encoder connection
(page 214).
SEW-EURODRIVE offers a prefabricated cable for connecting DWI11A to MOVIAXIS®.
This cable can be used for both asynchronous and synchronous motors.
Dimension drawing All dimensions in mm (in)

X1: MOVIDRIVE
75 (3.0)
X2: Encoder
DWI
5 (0.2) 68 (2.7)
22.5 (0.886) 73 (2.9)
2960662411
The DWI11A option is mounted on a support rail (EN 50022-35 × 7.5) in the control cab-
inet.
Technical data
DWI11A DC 5 V encoder supply option
Part number 822 759 4
Voltage input DC 10 – 30 V, Imax = DC 120 mA
Encoder power supply DC +5 V (up to Vmax ≈ +10 V), Imax = DC 300 mA
Max. line length that can be con- 100 m (328 ft) total
nected Use a shielded twisted-pair cable (A and A, B and B, C and C) for
connecting the encoder to the DWI11A and the DWI11A to
MOVIAXIS®.

System accessories
f 2
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2.7 System accessories 1

2.7.1 Technical data of optional braking resistors
General informa- The BW... braking resistors are tailored to the technical characteristics of MOVIAXIS®
2
tion multi-axis servo inverters.
3
4
INFORMATION
When using a DC link discharge module, you must install braking resistors with center
5
tap. These braking resistors are marked in the table on the following page.
6
Wire and grid • Perforated sheet cover (IP20) open to mounting surface.
resistors
• The short-time load capacity of the wire and grid resistors is greater than in the flat-
type braking resistors.
7
8
SEW-EURODRIVE recommends protecting the wire and grid resistors against overload
using a thermal overload relay or a thermal circuit breaker. Set the trip current to the
value IF except when using the braking resistor type BW...-P, see the following tables. 9
Do not use electronic or electromagnetic fuses because these can be triggered even in
case of short-term excess currents that are still within the tolerance range. 10
The resistor surfaces reach high temperatures under load with PN. Make sure that you
select an installation site that will accommodate these high temperatures. As a rule, 11
braking resistors are therefore mounted on the control cabinet roof.
The performance data listed in the following tables indicate the load capacity of the brak- 12
ing resistors depending on their cyclic duration factor. The cyclic duration factor cdf of
the braking resistor is indicated in % and refers to a cycle duration of ≤ 120 s.
13
UL and cUL approval
BW... type braking resistors are UL and cUL approved in conjunction with the 14
MOVIAXIS® multi-axis servo inverter. SEW-EURODRIVE will provide certification on re-
quest. 15
®
The following braking resistors have cRUus approval independent of the MOVIAXIS
multi-axis servo inverter: 16
• BW012-015-01
• BW006-025-01 17
• BW006-050-01
• BW004-050-01
18
19
SEW-EURODRIVE will provide certification on request.
20
21
22

2 f
System accessories
i
P Hz
Technical data
1) BW027- BW027- BW247 BW247-T BW347 BW347-T BW039-

Braking resistor type
006 012 050
Part number 822 4226 822 4234 820 7143 1820 0842 820 798 4 1820 1350 821 691 6
Power class of the power
kW 10, 25, 50, 75
supply module
Load capacity at
kW 0.6 1.2 2 4 5
100% cdf2)
Resistance value RBW Ω 27 ±10% 47 ±10% 39 ±10%
Trip current (of F16) IF ARMS 4.7 6.7 6.5 9.2 11.3
Grid
Design Wire resistor
resistor
2
Connections mm Ceramic terminals 2.5
Permitted electric loading
of the terminals at A DC 20
100% cdf
A DC 25
of the terminals at 40% cdf
Amount of energy that can
kWs 10 28 64 84 600
be absorbed
Degree of protection IP20 (when installed)
Ambient temperature ϑU °C -20 to +45
Type of cooling KS = self-cooling
1) Unit
2) cdf = Cyclic duration factor of the braking resistor in relation to a cycle duration TD ≤ 120 s

System accessories
f 2
i
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1
1) BW012- BW012- BW12- BW012- BW012-
Braking resistor type BW012-015 BW915-T
015-012) 025 025-P 050 100-T 2
Part number 821 679 7 1 820 010 9 821 680 0 1820 4147 821 681 9 1820 1415 1820 4139
supply module
kW 25, 50, 75 3
Load capacity at
kW 1.5 1.5 2.5 5.0 10 16
100% cdf3) 4
Resistance value RBW Ω 12 ±10% 15 ±10%
ARM
Trip current (of F16) IF
S
11.2 11.2 14.4 20.4 28.8 31.6 5
Design Wire resistor Grid resistor
Connections mm2 Ceramic terminals 2.5 6
of the terminals at 100% A DC 20
cdf 7
A DC 25
of the terminals at 40% cdf 8
kWs 34 240 360 600 1260 1920
be absorbed
Degree of protection IP20 (when installed) 9
Ambient temperature ϑU °C -20 to +45
Type of cooling KS = self-cooling 10
1) Unit
2) Braking resistors have a 1 Ω tap 11
1) 12
Braking resistor type BW006-025-012) BW006-050-01 BW106-T BW206-T BW004-050-01
Part number 1 820 011 7 1 820 012 5 1820 0834 1820 4120 1 820 0133
13
kW 50, 75 75
supply module
Load capacity at
kW 2.5 5.0 13 18 5.0 14
100% cdf3)
Resistance value RBW Ω 5.8 ±10% 6 ±10% 3.6 ±10%
Trip current (of F16) IF ARMS 20.8 29.4 46.5 54.7 37.3
15
Design Grid resistor
Connections M8 stud 16
of the terminal stud at A DC 115
100% cdf
17
of the terminal stud at 40% A DC 143 18
cdf
kWs 300 600 1620 2160 600
be absorbed 19
Degree of protection IP20 (when installed)
Ambient temperature ϑU °C -20 to +45 20
Type of cooling KS = self-cooling
1) Unit 21
2) Braking resistors have a 1 Ω tap
22

2 f
System accessories
i
P Hz
Dimension drawing of BW... braking resistors

Dimension drawing of BW braking resistors, [2] grid resistor / [3] wire resistor
'
[2] A
B
d
c a
C A
[3]
B
e d
a x1 c
A C
2961094539
Flat-type resistors: The connecting lead is 500 mm long. The scope of delivery includes
four M4 threaded bushings each of type 1 and 2.
Type Mounting Main dimensions Mounting Mass

position mm mm kg
BW.. A/A’ B C a c/e x1 d
BW027-006 3 486 120 92 430 64 10 6.5 2.2
BW027-012 3 486 120 185 426 150 10 6.5 4.3
BW247 3 665 120 185 626 150 6.5 6.1
BW247-T 4 749 120 185 626 150 6.5 9.2
BW347 3 670 145 340 630 300 6.5 13.2
BW347-T 3 749 210 185 630 150 6.5 12.4
BW039-050 2 395 260 490 370 380 10.5 12
BW012-015 2 600 120 92 544 64 10 6.5 4
BW012-015-01 2 195 260 490 170 380 10.5 7
BW012-025 2 295 260 490 270 380 - 10.5 8
BW012-025-P 2 295/355 260 490 270 380 10.5 8
BW012-050 2 395 260 490 370 380 - 10.5 11
BW012-100-T 2 595 270 490 570 380 10.5 21
BW915-T 2 795 270 490 770 380 10.5 30
BW006-025-01 2 295 260 490 270 380 - 10.5 9.5
BW006-050-01 2 395 260 490 370 380 - 10.5 13
BW106-T 2 795 270 490 770 380 10.5 32
BW206-T 2 995 270 490 970 380 10.5 40
BW004-050-01 2 395 260 490 370 380 - 10.5 13

System accessories
f 2
i
P Hz
2.7.2 Technical data of line filter option for power supply module 1
• To suppress interference emission on the line side of inverters.
• Do not switch between the NF... line filter and MOVIAXIS®. 2
• NF.. line filters have cRUus approval independent of MOVIAXIS®.
3
Line filter type NF018-503 NF048-503 NF085-503 NF150-503
Part number 827 413 4 827 117 8 827 415 0 827 417 7
4
Supply module Size 1 Size 2 Size 3 Size 3
Rated line voltage Vline
(according to EN 50160)
3 × AC 380 V - 500 V, 50/60 Hz 5
Nominal current IN AC 18 A AC 48 A AC 85 A AC 150 A
Power loss at IN PV 12 W 22 W 35 W 90 W 6
Earth-leakage current at VN < 25 mA < 40 mA < 30 mA < 30 mA
Ambient temperature ϑU -25 – +40 °C 7
Degree of protection IP20 (EN 60529)
Connections L1-L3/L1'-L3' 10 mm2 (AWG 8) 35 mm2 50 mm2 8
4 mm2 (AWG 10)
Tightening torque L1-L3/L1'-L3' 1.8 Nm (AWG 2) (AWG1/0)
0.8 Nm
Connection PE M6 stud 3.7 Nm 3.7 Nm
M5 stud
Tightening torque PE
3.4 Nm
5.5 Nm M8 M10 9
12.8 Nm 23.8 Nm
10
11
12
13
14
15
16
17
18
19
20
21
22

2 f
System accessories
i
P Hz
Dimension drawing for line filters NF018-503 / NF048-503 / NF085-503 / NF150-503
a
C
L3 L2 L1
LINE
b
B
LOAD
L3' L2' L1'
1456387083
Any mounting position

Mounting dimensions mm Hole dimension
Line filter Main dimensions mm (in) PE con- Mass
(in) mm (in)
type nection
A B C a b c kg (lb)
NF018-503 50 (1.97) 255 (10) 80 (3.1) 20 (0.78) 240 (9.45) M5 1.1 (2.4)
5.5 (0.22)
NF048-503 60 (2.36) 315 (12.4) 100 (3.94) 30 (1.18) 295 (11.6) M6 2.1 (4.6)
NF085-503 90 (3.54) 320 (12.6) 140 (5.51) 60 (2.36) M8 3.5 (7.7)
255 (10) 6.5 (0.26)
NF150-503 100 (3.94) 330 (13) 155 (6.1) 65 (2.56) M10 5.6 (12.3)

System accessories
f 2
i
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2.7.3 Technical data of line choke option for power supply modules 1
Using line chokes is optional:
• To support overvoltage protection 2
• To smoothen the line current, to reduce harmonics
3
• Protection in the event of distorted line voltage
• To limit the charging current when several inverters are connected together in paral-
4
lel on the input end with shared line contactors (nominal current of line choke = total
of inverter currents).
ND.. line chokes have cRUs approval independent of the MOVIAXIS®.
5
Line choke type ND020-013 ND045-013 ND085-013 ND150-013

6
Part number 826 012 5 826 013 3 826 014 1 825 548 2
Supply module Size 1 Size 2 Size 3 Size 3
7
Rated line voltage Vline 3 × AC 380 V - 500 V, 50/60 Hz
(according to EN 50160)
Nominal current IN AC 20 A AC 45 A AC 85 A AC 150 A 8
Power loss at IN PV 10 W 15 W 25 W 65 W
Inductance LN 0.1 mH 0.1 mH 0.1 mH 0.1 mH 9
Ambient temperature ϑU -25 – +45 °C
Degree of protection IP00 (EN 60529) 10
Connections L1-L3/L1'-L3' Terminal strips Terminal strips Terminal strips M10 stud
PE 4 mm2 (AWG12) 10 mm2 (AWG8) 35 mm2 (AWG2) PE: M8 stud
11
Tightening torque 0.6 – 0.8 Nm Max. 2.5 Nm 3.2 – 3.7 Nm M10 stud: 10 Nm
PE: 6 Nm
12
13
14
15
16
17
18
19
20
21
22

2 f
System accessories
i
P Hz
Dimension drawing for line choke ND020.. / ND045.. / ND085..
A
a
c
c
[1]
B b
1U1 1U2 1V1 1V2 1W1 1W2
[1]
C
1455926923
[1] Space for installation terminals Input: 1U1, 1V1, 1W1

Any mounting position Output: 1U2, 1V2, 1W2
Hole dimension
Line choke Main dimensions mm (in) Mounting dimensions mm (in) Mass
mm (in)
type
A B C a b c kg (lb)
ND020-013 85 (3.3) 60 (2.4) 120 (4.72) 50 (2) 31 - 42 (1.2 - 1.7) 5 - 10 (0.2 - 0.39) 0.5 (1)
ND045-013 125 (4.92) 95 (3.7) 170 (6.69) 84 (3.3) 55-75 (2.2 - 3) 6 (0.24) 2.5 (5.5)
ND085-013 185 (7.28) 115 (4.53) 235 (9.25) 136 (5.35) 56 - 88 (2.2 - 3.5) 7 (0.28) 8 (18)
Dimension drawing for line choke ND150..

C
c c
a b
A B
1455933707
Hole dimension
Line choke Main dimensions mm (in) Mounting dimensions mm (in) Mass
mm (in)
type
A B C a b c kg (lb)
ND150-013 255 (10) 140 (5.51) 230 (9.06) 170 (6.69) 77 (3) 8 (0.31) 17 (37)

System accessories
f 2
i
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2.7.4 Technical data of the optional line components for MXR80 supply and regenerative modules 1
The line components NK50 and NK75 are mandatory for the operation of the supply and
regenerative module. Replacing them with other choke/filter combinations is not permit- 2
ted. The NK.. line components always comprise a matched combination of filter and
choke. They can be ordered as a package under the specified part number, see follow-
ing table: 3
NK line components Part number Included line choke Included line filter
4
NK50 0829 9730 NDR075-083 NFR 075-503
NK75 0829 9722 NDR110-063 NFR111-503
5
NDR.. line choke
The two line chokes NDR 110 and NDR 075 are tailored to the MXR and NFR filters.
6
They cannot be replaced by "normal" line chokes. These line chokes are the core of the
boost converter function, which is essential for sinusoidal energy feedback into the grid. 7
Each operating mode (50 kW or 75 kW operation) requires a separate choke.
8
Wiring diagram l
U1 U2 9
V1 V2
10
11
W1 W2
12
PE
2961542411 13
Technical data NDR.. line chokes have a component approval independent of the MOVIAXIS® multi- 14
axis servo inverter. SEW-EURODRIVE will provide certification on request.
Unit Line choke 15
NDR 075-083 (50 kW) NDR 110-063 (75 kW)
Connection voltage AC 1) Vline VAC 3 × 380 V – 3 × 480 V ±10 % 16
Nominal line voltage2) UN VAC 3 x 500 V, 50 Hz 3 x 500 V, 50 Hz
Nominal current IN A 75 110 17
Power loss at
• 0% IN W • 135 • 220
• 100% IN • 270 • 440 18
Operating temperature at
• 0% IN °C • 85 • 85 19
• 100% IN • 140 • 140
Ambient temperature °C 0 to +45 0 to +45
Inductance mH 3 x 0.8 3 x 0.55
20
Degree of protection according to EN
- IP00 IP00
60529 21
22

2 f
System accessories
i
P Hz
Unit Line choke

NDR 075-083 (50 kW) NDR 110-063 (75 kW)
Mass kg 40 47
A mm 240 300
Dimensions B mm 200 230
C mm 410 430
Mounting dimen- a mm 190 240

sions b mm 131 160
1) Max. operating voltage in conjunction with MXR
2) Max. operating voltage of the choke
Dimension drawing NDR 075-083 (50 kW)
50
11x15
a b
A B
W2 V2 U2 W1 V1 U1
2961651979

System accessories
f 2
i
P Hz
Dimension drawing NDR 110-063 (75 kW) 1
50 3
C
6
11x15 8
9
a b
A B 10
11
12
W2 V2 U2 W1 V1 U1
13
14
2961686923 15
16
17
18
19
20
21
22

2 f
System accessories
i
P Hz
NFR.. line filter
Structure • 3-conductor filter

• Metal housing
Features • Design according to UL1283, IEC 60939, CSA 22.2 No. 8
Applications • Frequency inverters for motor drives
• Frequency inverters with regenerative operation
Connections • Touch-safe connection terminals
Technical data NFR.. line filters have a component approval independent of the MOVIAXIS® multi-axis
servo inverter. SEW-EURODRIVE will provide certification on request.
Line filter
Unit
NFR 075-503 (50 kW) NFR 111-503 (75 kW)
Connection voltage AC1) Vline VAC 3 × 380 V – 3 × 480 V ±10 %
Nominal line voltage2) VN VAC 3 × 500 3 × 500
Nominal current IN AAC 73 110
3)
Power loss W 60 105
Regenerative cycle frequency f kHz 8 4
< 60 mA at AC 500 V < 20 mA at AC 500 V
Discharge current IAbl mA
50 Hz in nominal operation 50 Hz in nominal operation
Degree of protection EN 60529 - IP20 IP20
2
Connections L1 - L3 ; L1' - L3' mm Up to 50 (screw terminals) Up to 50 (screw terminals)
Connections U, V, mm2 Screw terminals 0.2 – 4 Screw terminals 0.2 – 4
W
(supply system
voltage measure-
ment) PE
Mass kg 31 39
A mm 150 210
C mm 300 300
Connection dimen- a mm 120 180

sions b mm 422 422
2) Max. operating voltage of the filters
3) Rule of three applied for partial loads

System accessories
f 2
i
P Hz
Dimension drawing for NFR 075-503 (50 kW) 1

Dimension drawing of line filter for 3-phase systems.
55 96
2
20
49 3
L1 L2 L3 5
[1]
6
A 7
120 a
6.5
8
7.5
9
42.5
13
10
462.5
b
B
11
12
13
12.5
221.5 6.5 14
C
15
L1' L2' L3' 16
17
18
9007202216569099
19
[1] Terminals for line phase measure-
ment
20
21
22

2 f
System accessories
i
P Hz
Dimension drawing for NFR 111-503 (75 kW)

Dimension drawing of line filter for 3-phase systems.
55
40
20.5
L1 L2 L3
35
[1]
A
120 42.5 a
6.5
7.5
13
462.5
b
B
12.5
221.5 6.5
C
L1' L2' L3'
9007202216572299
[1] Terminals for line phase measure-

ment

System accessories
f 2
i
P Hz
2.7.5 Technical data of the EcoLine filter for MXR80 supply and regenerative modules 1
Every regenerative unit, be it block-shaped or sinusoidal, affects the grid to which it is
connected. To limit these feedback effects on other consumers connected to the grid, 2
and to keep them within a safe range under all circumstances, the transformer must be
overdimensioned or the grid must be sufficiently strong. This is due to the basic mode
of operation of energy feedback systems and the structure of electric power grids. 3
These project planning requirements are easily fulfilled by the vast majority of applica-
tions. 4
However, you can use an EcoLine filter if the following conditions apply to your applica-
tion: 5
• Special requirements for no feedback effects caused by the regenerative unit in the
grid, 6
• Overdimensioning / strong grid is not possible.
The EcoLine filter decouples the grid almost completely from possible feedback effects
7
of the regenerative unit.
Advantages of this solution: 8
• Almost no overdimensioning required
9
• Required transformer size is reduced by factor 3
• Regenerative unit can be used in combination with very weak grids 10
• Regenerative unit can be combined/integrated with existing system and grid condi-
tions
11
• Easy retrofitting of systems with regenerative units
12
Technical data In conjunction with MXR units, the NFH line filter is an UL-listed accessory.
Unit
EcoLine filter 13
NFH 075-503 (50 kW) NFH 110-503 (75 kW)
Connection voltage AC1) Vline VAC 3 × 380 V – 3 × 480 V ±10% 14
Nominal line voltage VN VAC 3 × 500 3 × 500
15
Power loss W 65 100
Regenerative cycle frequency f kHz 8 4
16
Degree of protection EN 60529
- IP20 to EN 60529 IP20 to EN 60529
(NEMA1) 17
2
Connections L1 - L3 ; L1' - L3' mm Up to 50 (screw terminals) Up to 50 (screw terminals)
Mass kg 20 24 18
19
20
21
22

2 f
System accessories
i
P Hz
Dimension drawing of NFH EcoLine filter
L1' L2' L3'
A
a
B
L1 L2 L3
9007202216688139
EcoLine filter
Unit
NFH 075-503 (50 kW) NFH 110-503 (75 kW)
A mm 180 180
C mm 225 300
Mounting dimen- a mm 150 150

sions b mm 352 422
Mounting positions The preferred mounting positions are suspended and horizontal, see the following sche-
matic diagrams:
Suspended
2962077323

System accessories
f 2
i
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Horizontal 1
4
2962080139
5
6
INFORMATION
For installation, observe the required minimum clearance of 100 mm above and below 7
the connecting terminals and the ventilation openings.
10
11
12
13
14
15
16
17
18
19
20
21
22

2 f
System accessories
i
P Hz
2.7.6 Technical data of the optional line components for MXR81 supply and regenerative modules
The line components listed below are mandatory for the operation of the supply and re-
generative module. Replacing them with other choke/filter combinations is not permit-
ted.
ND.. line choke

Wiring diagram
U1 U2
V1 V2
W1 W2
PE
Technical data ND.. line filters have a component approval independent of the MOVIAXIS® multi-axis
servo inverter. SEW-EURODRIVE provides proof for this on request.
Unit Line choke
ND085-0053 (50 kW) ND150-0033 (75 kW)
1797 0679 1797 2396
Nominal line voltage Vline
VAC 3 × 380 V – 3 × 500 V 50/60 Hz
(to EN 50160)
Nominal current IN A 85 150
Power loss at 50% / 100% W 20 / 40 50 / 100
Ambient temperature °C -25 °C to +45 °C
Inductance μH 50 30
Degree of protection according to
– IP00
EN 60529
Mass kg 6.0 15
A mm 160 250
C mm 216 282
Mounting dimen- D mm 135 180

sions E mm 95 98

System accessories
f 2
i
P Hz
Dimension drawing 1
C
4
D E 6
A B
10
11
12
13
14
15
16
17
18
19
20
21
22

2 f
System accessories
i
P Hz
NF.. line filters for 3-phase systems

Technical data NF.. line filters have a component approval independent of the MOVIAXIS® multi-axis
servo inverter. SEW-EURODRIVE provides proof for this on request.
Line filter
Unit
NF115-503 (50 kW) NF150-503 (75 kW)
Part number 0827 4169 0827 4177
Nominal line voltage Vline
VAC 3 × 380 V – 3 × 500 V 50/60 Hz
(to EN 50160)
Power loss1) W 60 90
Regenerative cycle frequency f kHz
Discharge current IAbl mA < 30 mA
Ambient temperature °C -25 to +40
Degree of protection EN 60529 – IP20 (EN 60529)
Connections L1 – L3 ; L1’ – L3’ mm2 50
Connection PE M10
Mass kg 4.8 5.6
A mm 100
Dimensions B mm 330
C mm 155
Connection dimen- a mm 65
sions b mm 255
1) Rule of three applied for partial loads

System accessories
f 2
i
P Hz
Dimension drawing 1
a
3
4
C
C 5
L3 L2 L1
7
LINE
8
10
b
B
11
12
LOAD
L3' L2' L1' 13
14
15
16
17
18
19
20
21
22

2 f
System accessories
i
P Hz
2.7.7 Cables for supply system connection, motor, motor brake, braking resistor, and fuses
Special regulations
Comply with the regulations issued by specific countries and for specific machines
regarding fusing and the selection of cable cross sections. If required, also adhere to the
notes on UL compliant installation.
Prescribed motor cable length

The maximum motor cable length is
• 50 m shielded,
• 100 m unshielded.
An exception from this rule is the 2 A axis module. Its maximum motor cable length is
• 25 m shielded,
• 50 m unshielded
.
INFORMATION
When using unshielded cables, please observe the information in chapter "Notes on
electromagnetic compatibility" (page 615).
Motor brake cable

The listed tolerances for direct brake supply (without brake rectifier) refer to a maximum
cable length of 25 m and a minimum cross section of 1 mm2, see also the "Direct brake
control" section (page 80).
Cable cross sections and fusing

SEW-EURODRIVE proposes the following line cross-sections and fusing for single-core
copper cables with PVC insulation laid in cable ducts, an ambient temperature of 40 °C
and nominal system currents of 100% of the nominal unit current:

System accessories
f 2
i
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MOVIAXIS® MXP power supply modules: 1

MOVIAXIS® MXP Size 1 MXP81 Size 2 Size 3
Nominal output power kW 10 10 25 50 75 2
Line connection
Nominal line current AC A 15 15 36 72 110
3
Fuses F11/F12/F13 IN Dimensioning according to nominal line current
Line cable L1/L2/L3 1.5 – 6 mm2 1.5 – 6 mm2 10 – 16 mm2 16 – 50 mm2 35 – 50 mm2 4
2 2 2 2
PE conductor 1 × 10 mm 1 × 10 mm 1 × 16 mm 1 × 50 mm 1 × 50 mm2
Cross section and contacts of COMBICON PC4 COMBICON PC4 COMBICON PC6 M8 screw bolts
the line connection pluggable, max. 4 pluggable, max. 4 pluggable, max. 6 Max. 50 mm2
5
Braking resistor connection 6

Brake cable +R/-R Design according to rated current of braking resistor
Cross sections and contacts of COMBICON PC4 COMBICON PC4 COMBICON PC6 M6 threaded bolt
connections pluggable, max. 4 pluggable, max. 4 pluggable, max. 6 Max. 16 mm2 7
Cross section and contacts of
See technical data of braking resistors
braking resistor
8
MOVIAXIS® MXA axis modules:
9
MOVIAXIS® MXA Size 1 Size 2
Continuous AC output current in
A 2 4 8 12 16 10
PWM = 4 kHz
Nominal AC output current in A
PWM = 8 kHz
2 4 8 12 16 11
Motor cable U/V/W 1.5 – 4 mm2
Cross section and contacts of COMBICON PC4 12
motor connection Pluggable, max. 4 mm2
13
®
MOVIAXIS MXA Size 3 Size 4 Size 5 Size 6
Continuous AC output current in 14
A 32 43 64 85 133
PWM = 4 kHz
Nominal AC output current in A
24 32 48 64 100
15
PWM = 8 kHz
Motor cable U/V/W 4 – 6 mm2 6 mm2 10 – 16 mm2 16 mm2 25 – 50 mm2
COMBICON PC6
16
Cross section and contacts of One core per terminal: 0.5 – 16 mm2; M6 threaded bolt
Max. 4 × 70 mm2
motor connection two conductors per terminal: 0.5 – Max. 25 mm2
6 mm2 17
MOVIAXIS® MXZ DC link discharge module: 18

®
MOVIAXIS MXZ Size 1
Braking resistor connection 19
Brake cable +R/-R Design according to rated current of braking resistor
Cross section and contacts M6 screw bolts, max. 4 × 16
Connection to power shield
20
Max. 4 × 16
clamp
Cross section and contacts of 21
See technical data of braking resistors
braking resistor
22

2 f
System accessories
i
P Hz
Voltage drop The cable cross section of the motor cable should be selected so the voltage drop is
as small as possible. An excessively large voltage drop means that the full motor
torque is not achieved.
The expected voltage drop can be determined with reference to the following tables (the
voltage drop can be calculated in proportion to the length if the cables are shorter or lon-
ger). This information applies when using cores made of copper with PVC insulation at
40 °C ambient temperature and installation type "E" according to EN 60204-1 1998-11
table 5.
Line Load with I in A =

cross section 4 6 8 10 13 16 20 25 30 40 50 63 80 100 125 150
Copper Voltage drop ∆V [V] with length = 100 m (330 ft) and ϑ = 70 °C
1.5 mm2 5.3 8 10.6 13.3 17.3 21.3 1) 1) 1) 1) 1) 1) 1) 1) 1) 1)
2.5 mm2 3.2 4.8 6.4 8.1 10.4 12.8 16 1) 1) 1) 1) 1) 1) 1) 1) 1)
4 mm2 1.9 2.8 3.8 4.7 6.5 8.0 10 12.5 1) 1) 1) 1) 1) 1) 1) 1)
6 mm2 4.4 5.3 6.4 8.3 9.9 1) 1) 1) 1) 1) 1) 1)
2 1) 1) 1) 1) 1)
10 mm 3.2 4.0 5.0 6.0 8.2 10.2
16 mm2 3.3 3.9 5.2 6.5 7.9 10.0 1) 1) 1)
25 mm2 2.5 3.3 4.1 5.1 6.4 8.0 1) 1)
35 mm2 2.9 3.6 4.6 5.7 7.2 8.6

2
50 mm 4.0 5.0 6.0
1) Not recommended dimensioning range, excessive voltage drop
Line Load with I in A =

cross section 4 6 8 10 13 16 20 25 30 40 50 63 80 100 125 150
Copper Voltage drop ∆V in V with length = 100 m (330 ft) and ϑ = 70 °C
1) 1) 1) 1) 1) 1) 1) 1) 1) 1) 1) 1) 1) 1)
AWG16 7.0 10.5
AWG14 4.2 6.3 8.4 10.5 13.6 1) 1) 1) 1) 1) 1) 1) 1) 1) 1) 1)
AWG12 2.6 3.9 5.2 6.4 8.4 10.3 12.9 1) 1) 1) 1) 1) 1) 1) 1) 1)
AWG10 5.6 6.9 8.7 10.8 13.0 1) 1) 1) 1) 1) 1) 1)
AWG8 4.5 5.6 7.0 8.4 11.2 1) 1) 1) 1) 1) 1)
1) 1) 1)
AWG6 4.3 5.1 6.9 8.6 10.8 13.7
AWG4 3.2 4.3 5.4 6.8 8.7 10.8 13.5 1)
AWG3 2.6 3.4 4.3 5.1 6.9 8.6 10.7 12.8

AWG2 3.4 4.2 5.4 6.8 8.5 10.2
AWG1 3.4 4.3 5.4 6.8 8.1
AWG1/0 2.6 3.4 4.3 5.4 6.8
AWG2/0 2.7 3.4 4.3 5.1
1) More than 3% voltage drop in relation to Uline = AC 460 V (not recommended)

Power cables for synchronous servomotors kVA n
Structure of the motor cable and brakemotor cables
f 3
i
P Hz
3 Power cables for synchronous servomotors 1

3.1 Structure of the motor cable and brakemotor cables
2
SEW-EURODRIVE offers prefabricated cables with plugs for straightforward and reli-
able motor connection. Cable and contact are connected using the crimp technique. The
following cables are available in 1 m steps: 3
• Motor power
• Motor power + brake
4
• Resolver/motor protection
5
• Absolute encoder motor protection
• Forced cooling fan 6
7
INFORMATION
For cable specifications, such as approval and temperature range, refer to chapter 8
"Power cable specification" (page 183).
9
The size of the plug connector depends on the current level and the maximum cable
length according to the speed. 10
Hybrid cables are divided into 11

• Power cables (motor cable, brakemotor cable, extension cable),
• Encoder cables (Resolver cables, encoder cables, extension cables).
12
13
3.1.1 Note on the wiring diagrams
All plugs are shown with view onto the pins!
14
15
16
17
18
19
20
21
22

kVA n Power cables for synchronous servomotors
3 f
i
P Hz
3.1.2 Motor cables/brakemotor cables for CMP servomotors
[5]
[1]
[2] [6]
500 ±5
[3]
[4]
2962607371
[1] Connector: Intercontec BSTA 078 [4] Line length ≤ 10 m: Tolerance +200 mm.
Cable length > 10 m: Tolerance +2%.
Permitted cable length according to the technical docu-
ments
[2] SEW-EURODRIVE logo printed on [5] Prefabricated cable end for inverter
cable Required loose parts are supplied with the cable.
[3] Nameplate [6] Shielding 20 mm, pulled back approximately + 5 mm
Motor side The power cables on the motor side consist of an 8-pin plug connector and socket con-
tacts.
The shield is connected in the connector housing according to EMC requirements. All
plug connectors seal the plug on the cable end with a lamellar seal and ensure cable
relief according to EN 61884.
Prefabrication on The individual cable cores of the motor and brakemotor cables are exposed and the
inverter end shield is prepared for connection in the control cabinet. The cable for the inverter end
still has to be prefabricated. The loose parts required are supplied with the cable in a
separate bag.
Loose parts The following loose parts are supplied in accordance with the core cross sections for
connection to the power terminals on the inverter:
Bag no. Contents

4 x conductor end sleeves 1.5 mm2 , insulated
1
4 x M6 U-shaped cable lugs 1.5 mm2
2
3 4 x conductor end sleeves 4 mm2 , insulated
4 x M6 U-shaped cable lugs 4 mm2

f 3
i
P Hz
3.1.3 Motor cables/brakemotor cables for CFM servomotors 1
2
[1]
[2] [5]
3
4
X
5
[3]
[6]
6
[4]
2962611339 7
[1] Connector: Amphenol
[2] SEW-EURODRIVE logo printed on cable
8
[3] Nameplate
[4] Cable length ≤ 10 m: Tolerance +200 mm.
Cable length > 10 m: Tolerance +2%. 9
Permitted line length according to the technical documents.
[5] Pre-fabricated cable end for inverter.
Required loose parts are supplied with the cable. 10
[6] Shielding pulled back approx. 20 mm +5 mm.
11
Motor side The power cables on the motor end have a 6-pin EMC Amphenol plug connector and
socket contacts.
12
The shield is connected in the connector housing according to EMC requirements. All
plug connectors seal the plug on the cable end with a lamellar seal and ensure cable
relief according to EN 61884. 13
Inverter side The individual cable cores of the power and brake power cables are exposed and the 14
shield is prepared for connection in the control cabinet. The cable for the inverter end
has yet to be assembled. The loose parts required are supplied with the cable in a sep- 15
arate bag.
Loose parts The following loose parts are supplied in accordance with the core cross sections for
16
connection to the power terminals on the inverter:
17
Bag no. Content
18
1
4 x conductor end sleeves 2.5 mm2 , insulated 19
2
4 x conductor end sleeves 4 mm2 , insulated 20
3 4 x M6 U-shaped cable lugs 4 mm2
4 x M6 U-shaped cable lugs 6 mm2 21
4
4 x M6 U-shaped cable lugs 10 mm2 22
5
4 x M10 ring-type cable lugs 10 mm2

3 f
Power cables for CMP, CMDV, and CMS50/63 motors
i
P Hz
3.2 Power cables for CMP, CMDV, and CMS50/63 motors

3.2.1 Motor cable
Motor cable illustration
2962797323
Pin assignment of the motor cable
Plug connector
Pin Cable core color Assigned Extra
View X
BSTA 078 1 (BK) Black U
SM1 2 (GN/YE) Green/Yellow PE
W1
3 (BK) Black W
3 D
PE C 4 (BK) Black V
2 4
V1 B
1 A
U1
Bag of loose
parts
CSTA 264
SMB
V
- +
W U
U
1
W
2
PE
Motor cable types
Number of cores
Plug connector type and cable cross Part number Installation Cable type
section
SM11 4 × 1.5 mm2 0590 4544 Fixed installation
Cable carrier Low capaci-
SM11 4 × 1.5 mm2 0590 6245
installation tance
SM12 4 × 2.5 mm2 0590 4552 Fixed installation
SM12 4 × 2.5 mm2 0590 6253
installation tance
SM14 4 × 4 mm2 0590 4560 Fixed installation
Cable carrier
SM14 4 × 4 mm2 0590 4803
installation
SMB6 4 × 6 mm2 1335 0269 Fixed installation
Cable carrier
SMB6 4 × 6 mm2 1335 0293
installation

f 3
i
P Hz
Number of cores 1
section
SMB10 4 × 10 mm2 1335 0277 Fixed installation 2
Cable carrier
SMB10 4 × 10 mm2 1335 0307
installation 3
SMB16 4 × 16 mm2 1335 0285 Fixed installation
SMB16 4 × 16 mm2 1335 0315

Cable carrier 4
installation
5
3.2.2 Extension cables
Illustration of motor extension cable 6
7
X Y
8
2962872843
Types of motor extension cables

9
10
Number of cores
section 11
SM11 4 × 1.5 mm2 1333 2457
installation tance
12
SM12 4 × 2.5 mm2 1333 2465
installation tance
13
SM14 4 × 4 mm2 1333 2473
installation tance
SMB6 4 × 6 mm2 1335 0021

Cable carrier Low capaci- 14
installation tance
SMB10 4 × 10 mm2 1335 0048
installation tance 15
SMB16 4 × 16 mm2 1335 0056
installation tance 16
17
18
19
20
21
22

3 f
i
P Hz
Pin assignment of motor extension cable
Plug connector Pin Cable core color Assigned Pin Plug connector
View X View Y
BSTA 078 1 (BK/WH) U 1 BKUA 199
SM1 4 Black with V 4
BK/- W/3
W/3 BK/- 3 white lettering W 3
U, V, W BK/+ D
3 D
BK/+ 3 PE
PE C
C
4 4
2
2 (GR/YE) Green/Yellow PE 2 2
V/2
V/2 B
B
1 A
1
A
U/1
U/1
CSTA 264 CKUA 268

SMB
BK/-
BK/+
V V
V
- + + -
V
W U U W
U
W
1 U 1 2
W
2
PE
PE
3.2.3 Brakemotor cable for BP brake

Illustration of brakemotor cable
500 ±
5
2963077131
Types of brakemotor cables
Plug connector type Number of cores and

Part number Installation Cable type
cable cross section
SB11 4 × 1.5 mm2 + 3 × 1 mm2 1335 4345 Fixed installation
Cable carrier Low capac-
SB11 4 × 1.5 mm2 + 3 × 1 mm2 1335 4388
installation itance
Cable carrier Low capac-
SB12 4 × 2.5 mm2 + 3 × 1 mm2 1335 4396
installation itance
SB14 4 × 4 mm2 + 3 × 1 mm2 1335 4361 Fixed installation
Cable carrier
SB14 4 × 4 mm2 + 3 × 1 mm2 1335 1603
installation

f 3
i
P Hz
Plug connector type Number of cores and 1

cable cross section
SBB6 4 × 6 mm2 + 3 × 1.5 mm2 1335 0196 Fixed installation
2
Cable carrier
SBB6 4 × 6 mm2 + 3 × 1.5 mm2 1335 0234
installation
SBB10 4 × 10 mm2 + 3 × 1.5 mm2 1335 0218 Fixed installation 3
Cable carrier
SBB10 4 × 10 mm2 + 3 × 1.5 mm2 1335 0242
installation 4
SBB16 4 × 16 mm2 + 3 × 1.5 mm2 1335 0250

Cable carrier 5
installation
6
Pin assignment of brake motor cables
7
Plug connector Pin Cable core color Assigned Extra
View X
8
BSTA 078 1 U
SB1 (BK/WH) Black with
4 V
white lettering U, V, W
W1
BK/WH
3 W
9
BK/WH
PE 3 D
2 (GN/YE) Green/Yellow PE
2
4
C
A - n. c. 10
BK/WH
V1 B
B - n. c.
U1
1 A
C (BK/WH) Black with 3 11
white lettering 1, 2, 3 Bag of loose
D 1-
parts
CSTA 264 12
SBB
BK/WH BK/WH
V 13
V
- +
W U
1
U 14
W
2
PE
BK/WH
15
16
17
18
19
20
21
22

3 f
i
P Hz
3.2.4 Brakemotor cable for BY brake

500 ±
5
2963077131

cable cross section
SB11 4 × 1.5 mm2 + 3 × 1 mm2 1335 4302
installation tance
SB12 4 × 2.5 mm2 + 3 × 1 mm2 1335 4310
installation tance
SB14 4 × 4 mm2 + 3 × 1 mm2 1335 4299 Fixed installation
Cable carrier
SB14 4 × 4 mm2 + 3 × 1 mm2 1335 4329
installation
Cable carrier
SBB6 4 × 6 mm2 + 3 × 1.5 mm2 1335 0153
installation
Cable carrier
SBB10 4 × 10 mm2 + 3 × 1.5 mm2 1335 0161
installation
Cable carrier
SBB16 4 × 16 mm2 + 3 × 1.5 mm2 1335 0188
installation

f 3
i
P Hz
Pin assignment of brake motor cable 1
Plug connector Pin Cable core color Assigned Extra

2
View X
BSTA 078 1 U 3
SB1 (BK/WH) Black with
4 V
BK/WH white lettering U, V, W
W1
BK/WH
3 W 4
PE 3 D
2 (GN/YE) Green/Yellow PE
C
A - n. c.
2
4
BK/WH 5
V1 B
B 2
1 A (BK/WH) Black with
C 1
U1 white lettering
Bag of loose 6
D 3
parts
CSTA 264
SBB 7
BK/WH BK/WH
V
- + 8
V
W U
U
W
1 9
2
PE
BK/WH
10
11
12
13
14
15
16
17
18
19
20
21
22

3 f
i
P Hz
3.2.5 Extension cable for BP and BY brake

Illustration of brakemotor extension cable
X Y
2962872843
Types of brake motor extension cables

cable cross section
SB11 4 × 1.5 mm2 + 3 × 1 mm2 1335 4221
installation tance
SB12 4 × 2.5 mm2 + 3 × 1 mm2 1335 4248
installation tance
SB14 4 × 4 mm2 + 3 × 1 mm2 1335 4337
installation tance
Cable carrier
SBB6 4 × 6 mm2 + 3 × 1.5 mm2 1335 0099
installation
Cable carrier
SBB10 4 × 10 mm2 + 3 × 1.5 mm2 1335 0102
installation
Cable carrier
SBB16 4 × 16 mm2 + 3 × 1.5 mm2 1335 0110
installation
Pin assignment of brake motor extension cable
Plug connector Pin Cable core color Assigne Pin Plug connector
View X d View Y
BSTA 078 1 (BK/WH) U 1 BKUA 199
4 Black with V 4
BK/- W/3
W/3 BK/- white lettering
3 W 3 BK/+
U, V, W
3 D D
PE BK/+ 3 PE
C C
2 4 4
V/2
V/2 B
2 (GN/YE) Green/Yellow PE 2 2
A - n. c. A
1 A
1
U/1 A
U/1
B - n. c. B
C (BK/WH) Black with 2 C
white lettering 1, 2, 3
D 1 D
CSTA 264 CKUA 268
SBB BK/-
BK/+
BK/WH V
BK/WH
V
V
+ -
V
- + U W
W U W
U U 1 2
1
W PE
2
PE
BK/WH

Power cables for CFM and CMS71 motors
f 3
i
P Hz
3.3 Power cables for CFM and CMS71 motors 1

3.3.1 Motor cable
Motor cable illustration
2
4
X
5
2963366027
6
Motor cable types
The cables are equipped with a connector for motor connection and conductor end
7
sleeves for inverter connection.
8
Plug connector type Number of cores and cable cross
section
Routing Part number 9
SM 51 / SM 61 4 × 1.5 mm2 (AWG 16) 199 179 5
SM 52 / SM 62 2
4 × 2.5 mm (AWG 12) 199 181 7 10
SM 54 / SM 64 4 × 4 mm2 (AWG 10) Fixed installation 199 183 3
SM 56 / SM 66 4 × 6 mm2 (AWG 10) 199 185 X 11
SM 59 / SM 69 4 × 10 mm2 (AWG 8) 199 187 6
SM 51 / SM 61 4 × 1.5 mm2 (AWG 16) 1333 1140 12
SM 52 / SM 62 4 × 2.5 mm2 (AWG 12) 1333 1159
Cable carrier
SM 54 / SM 64 4 × 4 mm2 (AWG 10) 199 184 1
installation 13
SM 56 / SM 66 4 × 6 mm2 (AWG 10) 199 186 8
SM 59 / SM 69 4 × 10 mm2 (AWG 8) 199 188 4
14
Pin assignment of the motor cable
15
Plug connector Pin Core identification Assigned Contact type Extra 16

C148U connector U1 Black with U
with socket contacts V1 white lettering Cut-off, length ca.
V
250 mm
W1 U, V, W W 17
18
Bag of loose
With Phoenix plug parts
(protec- connector
PE Green/yellow
tive earth) GMVSTBW 2.5/3 19
5 4 3
ST
20
View X
21
22

3 f
i
P Hz
Illustration of motor extension cable
X Y
2963397259
Types of motor extension cables

The cables are equipped with a plug and adapter for extending the CFM motor cable.
Plug connector type Number of cores and cable cross
Routing Part number
section
SM 51 / SM 61 4 × 1.5 mm2 (AWG 16) 199 549 9
2
SM 52 / SM 62 4 × 2.5 mm (AWG 12) 199 551 0
SM 54 / SM 64 4 × 4 mm2 (AWG 10) Fixed installation 199 553 7
2
SM 56 / SM 66 4 × 6 mm (AWG 10) 199 555 3
SM 59 / SM 69 4 × 10 mm2 (AWG 8) 199 557 X
SM 51 / SM 61 4 × 1.5 mm2 (AWG 16) 1333 1183
SM 52 / SM 62 4 × 2.5 mm2 (AWG 12) 1333 1191
Cable carrier
SM 54 / SM 64 4 × 4 mm2 (AWG 10) 199 554 5
installation
SM 56 / SM 66 4 × 6 mm2 (AWG 10) 199 556 1
2
SM 59 / SM 69 4 × 10 mm (AWG 8) 199 558 8
Pin assignment of motor extension cable
Plug connector Pin Core identification Pin Plug connector

U1 Black with U1
C148U adapter with pin white lettering C148U connector with
V1 V1
contacts socket contacts
W1 U, V, W W1
PE Green/yellow PE
3 Black with white lettering 3
4 1, 2, 3 4
5 5
3 4 5 5 4 3
The motor extension cable is a 1:1 connection of all pins.

f 3
i
P Hz
3.3.2 Brakemotor cables 1

2
3
X
4
500 ±5
5
7
2963522699
8
9
Plug connector
Number of cores and cable cross section Routing Part number
type, complete
10
SB 51 / SB 61 4 × 1.5 mm2 (AWG 16) + 3 × 1.0 mm2 (AWG 17) 199 189 2
SB 52 / SB 62 4 × 2.5 mm2 (AWG 12) + 3 × 1.0 mm2 (AWG 17) 199 191 4
SB 54 / SB 64 4 × 4 mm2 (AWG 10) + 3 × 1.0 mm2 (AWG 17) Fixed installation 199 193 0
11
SB 56 / SB 66 4 × 6 mm2 (AWG 10) + 3 × 1.5 mm2 (AWG 17) 199 195 7
SB 59 / SB 69 4 × 10 mm2 (AWG 10) + 3 × 1.5 mm2 (AWG 17) 199 197 3 12
2
SB 51 / SB 61 4 × 1.5 mm (AWG 16) + 3 × 1.0 mm2 (AWG 17) 1333 1167
SB 52 / SB 62 4 × 2.5 mm2 (AWG 12) + 3 × 1.0 mm2 (AWG 17) 1333 1175 13
2 Cable carrier
SB 54 / SB 64 4 × 4 mm (AWG 10) + 3 × 1.0 mm2 (AWG 17) 199 194 9
installation
SB 56 / SB 66 4 × 6 mm2 (AWG 10) + 3 × 1.5 mm2 (AWG 16) 199 196 5 14
2 2
SB 59 / SB 69 4 × 10 mm (AWG 10) + 3 × 1.5 mm (AWG 17) 199 198 1
15
16
17
18
19
20
21
22

3 f
i
P Hz
CFM brakemotor cable – pin assignment

The brakemotor cable is prefabricated for the following brake resistors:
• BME
• BMP
• BMH
• BMK
• BMV
For the BSG control unit, the customers have to assemble the cable themselves.
Plug connector Pin Core identification Assigned Contact type Extra
C148U connector U1 Black with U
with socket contacts V1 white lettering V
U, V, W Cut-off, length ca. 250
W1 W mm
(protec-
PE Green/yellow
tive earth)
Bag of loose
3 Black with 1 With Phoenix plug con- parts
4 White lettering 2 nector
1, 2, 3 GMVSTBW 2.5/3ST
5 3
5 4 3
View X

f 3
i
P Hz
Illustration of brakemotor extension cable 1
3
X Y
4
2963397259
5
Types of brake motor extension cables
6
Plug connector
Number of cores and cable cross section Routing Part number 7
type, complete
SK 51 / SK 61 4 × 1.5 mm2 (AWG 16) + 3 × 1.0 mm2 (AWG 17) 199 199 X
SK 52 / SK 62 2
4 × 2.5 mm (AWG 12) + 3 × 1.0 mm (AWG 17)2
199 201 5
8
SK 54 / SK 64 4 × 4 mm2 (AWG 10) + 3 × 1.0 mm2 (AWG 17) Fixed installation 199 203 1
SK 56 / SK 66 2 2
4 × 6 mm (AWG 10) + 3 × 1.5 mm (AWG 17) 199 205 8 9
SK 59 / SK 69 4 × 10 mm2 (AWG 10) + 3 × 1.5 mm2 (AWG 17) 199 207 4
SK 51 / SK 61 2
4 × 1.5 mm (AWG 16) + 3 × 1.0 mm2 (AWG 17) 1333 1205 10
SK 52 / SK 62 4 × 2.5 mm2 (AWG 12) + 3 × 1.0 mm2 (AWG 17) 1333 1213
Cable carrier
SK 54 / SK 64 4 × 4 mm2 (AWG 10) + 3 × 1.0 mm2 (AWG 17)
installation
199 204 X 11
SK 56 / SK 66 4 × 6 mm2 (AWG 10) + 3 × 1.5 mm2 (AWG 16) 199 206 6
SK 59 / SK 69 4 × 10 mm2 (AWG 10) + 3 × 1.5 mm2 (AWG 17) 199 208 2 12
Pin assignment of brake motor extension cable 13
Plug connector Pin Core identification Pin Plug connector 14

C148U adapter with pin U1 Black with U1 C148U connector with
contacts V1 White lettering V1 socket contacts
U, V, W
15
W1 W1
PE Green/yellow PE
3 Black with 3 16
4 White lettering 4
5 1, 2, 3 5
17
5 4 3
18
The brakemotor extension cable is a 1:1 connection of all pins.
19
20
21
22

3 f
Power cables for SL2 linear motors
i
P Hz
3.4 Power cables for SL2 linear motors

3.4.1 Power cables SL2-050 and AVX0 design
500 ±
5
2963077131
The customer assembles the cable with a Phoenix plug connector. The connector can
be cut off because it is not required for the TF connection.
BSTA 078 1 U
Black with white lettering U, V,
4 V
W
W TF2/KTY-K 3 W
P D 2 Green/yellow PE
3 C
TF1/KTY-A
Bag of loose
2 4 A Black 1 TF1/KTY-A Cut off Phoe- parts
B
V nix connector
1 A B Black 2 TF2/KTY-K
U
C Black 3 n.c.
Ground in con-
D – n.c. trol cabinet
View X
Plug connector type No. of cores and cable cross-section Part no. Installation type LC1)
2
4 x 1.5 mm (AWG 16) Cable carrier
SB71 / SB81 0590 631 8 X
3 x 1 mm2 (AWG 17) installation
4 x 2.5 mm2 (AWG 14) Cable carrier
SB72 / SB82 0590 632 6 X
4 x 4 mm2 (AWG 12) Cable carrier
SB74 / SB84 0590 484 6
1) Cable with low capacitance characteristics (LC = low capacity).
Alternative plug Plug connectors for power supply with socket contacts (complete).
connector at cus-
tomer end
Type Number of cores and cable cross-section Part no.
4 x 1.5 mm2 (AWG 16)
SB71 / SB81 0198 919 7
3 x 1 mm2 (AWG 17)
2
4 x 2.5 mm (AWG 14)
SB72 / SB82 0198 919 7
3 x 1 mm2 (AWG 12)
2
4 x 4 mm (AWG 12)
SB74 / SB84 0199 163 9
3 x 1 mm2 (AWG 17)

f 3
i
P Hz
3.4.2 Power cable for SL-100 and SL2-150 1
X 3
500 ±5
5
6
2963522699
The cable is fitted with a Phoenix plug connector at the control cabinet end. The connec- 7
tor can be cut off because it is not required for the TF connection.
8
C148U connector with

U1 Black with U 9
V1 white lettering V
socket contacts
W1 U, V, W W Cut-off, length ca. 250 mm
(protective 10
PE Green/yellow
earth)
3 Black 1 n.c. Ground in control cabinet Bag of loose
4 Black 2 TF1/KTY-A
parts 11
Cut off Phoenix connector 12

5 4 3 5 Black 3 TF2/KTY-K
View X 13
Power cable type

14
Plug connector type, complete Number of cores and cable cross-section Part number Installation type LC1)
SB51/SB61 4 x 1.5 mm2 (AWG 16) + 3 x 1.0 mm2 (AWG 17) 1333 116 7 X 15
SB52/SB62 4 x 2.5 mm2 (AWG 12) + 3 x 1.0 mm2 (AWG 17) 1333 117 5 X
Cable carrier
SB54/SB64 4 x 4 mm2 (AWG 10) + 3 x 1.0 mm2 (AWG 17) 199 194 9
installation 16
17
18
19
20
21
22

3 f
i
P Hz
Extension cable for SL2-100 and SL2-150
X Y
2963569547
The extension cable connects all contacts 1:1.
Pin assignment for

extension cables
Plug connector Pin Core identification Pin Plug connector
U1 Black with U1
C148U adapter with pin C148U connector with
V1 white lettering V1
contacts socket contacts
W1 U, V, W W1
PE Green/yellow PE
n.c. Black 1 n.c.
4 TF1/KTY-A Black 2 4 TF1/KTY-A
5 4 3 5 TF1/KTY-K Black 3 5 TF1/KTY-K
View X
View Y
Power extension
cable types
Plug connector Number of cores and cable cross- Installation
Part number LC1)
type, complete section type
4 x 1.5 mm2 (AWG 16) + 3 x 1.0 mm2
SK51 / SK61 1333 120 5 X
(AWG 17)
2 2
4 x 2.5 mm (AWG 12) + 3 x 1.0 mm
SK52 / SK62 1333 121 3 X
(AWG 17)
4 x 4 mm2 (AWG 10) + 3 x 1.0 mm2 Cable carrier
SK54 / SK64 0199 204 X
(AWG 17) installation
4 x 6 mm2 (AWG 10) + 3 x 1.5 mm2
SK56 / SK66 0199 206 6
(AWG 16)
4 x 10 mm2 (AWG 10) + 3 x 1.5 mm2
SK59 / SK69 0199 208 2
(AWG 17)
Alternative plug Plug connectors for power supply with socket contacts (complete).
connector at cus-
Type Cross sections Part no.
tomer end
SB51/SB61 4 x 1.5 mm2 (AWG 16) + 3 x 1.0 mm2 (AWG 17) 199 142 6
SB52/SB62 4 x 2.5 mm2 (AWG 12) + 3 x 1.0 mm2 (AWG 17) 199 143 4
SB54 / SB64 4 x 4 mm2 (AWG 10) + 3 x 1.0 mm2 (AWG 17) 199 144 2

Cable specification of power cables
f 3
i
P Hz
3.5 Cable specification of power cables 1

3.5.1 Fixed installation
Motor cable
2
Installation Fixed
3
Cable cross sections 4 x 1.5 mm2 4 x 2.5 mm2 4 x 4 mm2 4 x 6 mm2 4 x 10 mm2
(AWG 16) (AWG 14) (AWG 12) (AWG 10) (AWG 8)
4
Manufacturer HELUKABEL
Manufacturer designation LI9YCY
Operating voltage
5
V 600 / 1000
U0 / U AC
Temperature range °C Fixed installation -40 to +80 6
Max. temperature °C +80
Min. bending radius mm 45 55 65 73 85 7
Diameter D mm 9.0 ± 0.2 11 ± 0.2 13 ± 0.2 14.3 ± 0.3 17.0 ± 0.6
Core identification BK with lettering WH + GN/YE
8
Sheath color Orange, similar to RAL 2003
Approval(s) DESINA/VDE/UL
9
Capacitance core/shielding nF/km 110 110 118 125 125
Capacitance core / core nF/km 70 70 75 80 80
Halogen-free No
10
Silicon-free Yes
CFC-free Yes 11
Inner insulation (core) PP
Outer insulation (sheath) PVC 12
Flame-retardant/self-extinguishing No
Conductor material Cu 13
Shielding Tinned Cu
Weight (cable) kg/km 134 202 262 332 601 14
Brakemotor cable 15
Installation Fixed
Cable cross sections 4 x 1.5 mm 2
4 x 2.5 mm 2
4 x 4 mm2 4 x 6 mm2 4 x 10 mm2 16
+ + + + +
3 x 1 mm2 3 x 1 mm2 3 x 1 mm2 3 x 1.5 mm2 3 x 1.5 mm2 17
Manufacturer HELUKABEL 18
Operating voltage
V 600 / 1000 19
U0 / U AC
Temperature range °C Fixed installation: -40 to +80
Max. temperature °C +80
20
Min. bending radius mm 60 68 75 85 100
Diameter D mm 11.8 ± 0.4 13.4 ± 0.4 15.0 ± 0.5 17.0 ± 0.6 20.0 ± 1.0 21
Sheath color Orange similar to RAL 2003 22
Approval(s) DESINA/VDE/UL

3 f
i
P Hz
Installation Fixed
+ + + + +
3 x 1 mm2 3 x 1 mm2 3 x 1 mm2 3 x 1.5 mm2 3 x 1.5 mm2
Halogen-free No
Silicon-free Yes
CFC-free Yes
Outer insulation (sheath) PVC
Flame-retardant/self-extinguishing Yes
Conductor material Cu
Shielding Tinned Cu
Weight (cable) kg/km 229 292 393 542 938
3.5.2 Cable carrier installation

Motor cable
Installation Cable carrier
Manufacturer Nexans
Manufacturer designation PSL(LC)C11Y-J 4 x ... mm2 PSL11YC11Y-J 4 x ... mm2
Operating voltage
V 600 / 1000
U0 / U AC
Temperature range °C -20 to +60
Max. temperature °C +90 (on conductor)
Diameter D mm 12.8 + 0.6 / 15.7 ± 0.3 13.2 ± 0.4 15.4 ± 0.4 17.8 ± 0.5
-0.7
Maximum acceleration m/s2 20
Max. velocity m/min 200 at max. travel distance of 5 m
Sheath color Orange similar to RAL 2003
Approval(s) DESINA/VDE/UL/cRUus
Halogen-free Yes
Silicon-free Yes
CFC-free Yes
Inner insulation (core) Polyolefin TPM
Outer insulation (sheath) TPU (PUR)
Conductor material E-Cu blank
Shielding Braided tinned Cu shield (optically covered > 85%)
Min. bending cycles Min. 5 million

f 3
i
P Hz
Brakemotor cable 1
Installation Cable carrier
Cable cross sections 4 x 1.5 mm2 4 x 2.5 mm2 4 x 4 mm2 4 x 6 mm2 4 x 10 mm2 2
+ + + + +
3 x 1 mm2 3 x 1 mm2 3 x 1 mm2 3 x 1.5 mm2 3 x 1.5 mm2
3
Manufacturer Nexans 4
Manufacturer designation PSL(LC)C11Y-J 4x... +3A.../C PSL11YC11Y-J 4x... +3A.../C
Operating voltage
V 600 / 1000 5
U0 / U AC
Temperature range °C -20 to +60
6
Max. temperature °C +90 (conductor)
Diameter D mm 15.0 ± 0.9 16.5 ± 0.7 15.3 ± 0.5 17.4 ± 0.5 20.5 ± 0.5
7
Maximum acceleration m/s2 20
Max. velocity m/min 200 at max. travel distance of 5 m 8
Sheath color Orange similar to RAL 2003 9
Approval(s) DESINA/VDE/UL/cRUus
Capacitance core/shielding nF/km 105 105 170 170 170 10
Halogen-free Yes 11
Silicon-free Yes
CFC-free Yes
12
Inner insulation (cable) TPM
Outer insulation (sheath) Polyolefin TPU (PUR)
13
Shielding Braided tinned Cu shield (optically covered > 85%)
14
Min. bending cycles Min. 5 million 15
16
17
18
19
20
21
22

3 f
Forced cooling fan cable for CMP and CFM motors
i
P Hz
3.6 Forced cooling fan cable for CMP and CFM motors
3.6.1 Cable for motors with VR forced cooling fan
[1] [3] [2] [3]
[4]
2963956747
[1] Connector: STAK 200

[2] Printed on connector: SEW-EURODRIVE
[3] Nameplate
[4] Cable length ≤ 5 m: Tolerance +200 mm
Cable length > 5 m: Tolerance +2%
3.6.2 Cable types for motors with VR forced cooling fan
Type Cross section Installation Part number

CFM / CMP Fixed installation 0198 6341
3 × 1 mm2 (AWG 18)
CFM / CMP Cable carrier installation 0199 560X
3.6.3 Pin assignment of cables for motors with VR forced cooling fan
Plug connector STAK Pin Core identifi- Assigned Pin Connection

200 cation type
1 Digit 1 24 V + Cut-off, length ca. Conductor end
Connector with two 2 Digit 2 0V 250 mm sleeves
socket contacts
View X
3.6.4 Alternative connector for cable for the VR forced cooling fan
Signal plug connector with socket contacts (complete)
Type Cross sections that can be con- Installation Part number
nected
Fixed installation / cable car-
VR 3 x 1 mm2 (AWG 18) 0198 4985
rier installation

Forced cooling fan cable for CMP and CFM motors
f 3
i
P Hz
3.6.5 Extension cable for motors with VR forced cooling fan 1
2
[1] [3] [2] [3] [5]
3
X Y
4
[4]
5
2964380939
[1] Connector: STAS 200

6
[3] Nameplate
[4] Cable length ≤ 5 m: Tolerance +200 mm 7
[5] Socket: STAK 200 8
3.6.6 Extension cable types for motors with VR forced cooling fan 9
10
Type Cross section Installation Part number
CFM / CMP Fixed installation 0199 5618
3 × 1 mm2 (AWG 18) 11
CFM / CMP Cable carrier installation 0199 5626
12
3.6.7 Pin assignment of extension cables for motors with VR forced cooling fan
13
Plug connector STAS Pin Core identifica- Assigned Pin Connection type
200 tion STAK 200
14
1 Digit 1 24 V + 1
Connector with two 2 Digit 2 0V 2 Connector with two
pin contacts socket contacts 15
16
17
18
View X
View Y
19
The extension cable has the same pin assignment as all other contacts.
20
3.6.8 Alternative connector for cable for the VR forced cooling fan
Signal plug connector with pins (complete) 21
Type Cross sections that can be connected Part no. 22

2
VR 3 x 1 mm 0198 5693

kVA n Power cables for asynchronous motors
4 f
Description of power cables for DR motors
i
P Hz
4 Power cables for asynchronous motors

4.1 Description of power cables for DR motors
4.1.1 Brakemotor cable with IS
7
5
8
4
9
10
3
11
2
12
1
2965192331
Motor side On the motor end, all 12 contacts of the integrated plug connector are used for connect-
ing motor, brake, and motor protection.
The cables are available with variable terminal link in star or delta connection.
The brakemotor can then be supplied in ISU design.
Control cabi- For wiring in the control cabinet and field distributors, the cores are fitted with ring-type
net/field distributor cable lugs or conductor end sleeves.

Power cables for asynchronous motors kVA n
Cables for DR and DRL motors
f 4
i
P Hz
4.2 Cables for DR and DRL motors 1

4.2.1 Power cables
Motor and brakemotor cables with IS
2
Brakemotor types
3
Motor type Brake type Plug
DR.71 BE05, BE1
4
DR.80 BE05, BE1, BE2
DR.90 BE1, BE2, BE5
DR.100 BE2, BE5
/ISU 5
DR.112 BE5, BE11
DR.132 BE5, BE11 6
Cable drawing, wir- IS brakemotor cable with motor protection, conductor end sleeves and ring-type cable 7
ing lugs
8
7
5
8
4
9
10
10
3
11
2
12
1
11
2965192331
12
BK W1
BK V1
BK W1
BK V1
13
BK U1 BK U1
14
1 2 3 4 5 6 1 2 3 4 5 6
12 11 10 9 8 7
GNYE (PE) GNYE (PE)
12 11 10 9 8 7
15
BK 2 BK 2
BK 1 BK 1
BU BU 16
RD RD
WH WH
2965256459 2965258379 17
Star connection Delta connection
18
Part numbers
Variable terminal link Star connection Delta connection 19
Fixed installation 0817 8127 0817 8178
20
21
22

kVA n Power cables for asynchronous motors
4 f
Cables for DR and DRL motors
i
P Hz
4.2.2 Cable specifications of the power cables
Installation Fixed
Supply cores: Control core pair
Cable cross sections 7 x 1.5 mm2 2 x 0.75 mm2
(AWG 16) (AWG 14)
Manufacturer
Operating voltage
V 750 350
U0 / U AC
Conductor resistance at 20 °C Ω/km 13 26
Insulation resistance at 20 °C MΩ/km 20
Temperature range for operation °C -30 to +90
Temperature range for transportation, °C
-40 to +90
storage
Min. bending radius mm 5 × diameter
Diameter D mm 13.2 – 15.9
Sheath color Black
Halogen-free Yes
Silicon-free Yes
CFC-free
Insulation TPE-U (polyurethane)
Flame-retardant Yes
Oil-resistant Yes
Fuel-resistant Yes
Resistance to acids, alkalis, cleaning
Yes
agents
Dust-resistant Yes
Conductor material Bare E-Cu strand, extra-fine individual wires ≤ 0.1 mm
Shielding Tinned E-Cu wire

Encoder cables kVA n
Structure of encoder cables for synchronous motors
f 5
i
P Hz
5 Encoder cables 1
5.1 Structure of encoder cables for synchronous motors
2
SEW-EURODRIVE offers prefabricated cables with plugs for straightforward and reli-
able motor connection. Cable and contact are connected using the crimp technique. The
following cables are available in 1 m steps: 3
• Motor power
• Motor power + brake
4
• Resolver/motor protection
5
• Absolute encoder motor protection
• Forced cooling fan 6
INFORMATION 7
For cable specifications, such as bending radius, approval and temperature range,
refer to chapter "Encoder cable specification" (page 215). 8
The size of the plug connector depends on the current level and the maximum cable
length according to the speed. 9
10
Prefabricated cables are divided into:
• Power cables (motor cable, brakemotor cable, extension cable), 11
• Encoder cables (Resolver cables, encoder cables, extension cables).
12
5.1.1 Plug thread
13
INFORMATION
The D-sub connectors are equipped with a common UNC thread.
14
5.1.2 Note on the wiring diagrams 15

All plugs are shown with view onto the pins!
16
17
18
19
20
21
22

kVA n Encoder cables
5 f
i
P Hz
5.1.3 Structure of encoder cables
[1]
[2] [5]
[3] Y
[4]
2965595147
[1] Connector: Intercontec ASTA

[3] Nameplate
[4] Line length ≤ 10 m: Tolerance +200 mm
[5] D-sub plug
Motor side A 12-pin EMC signal plug connector from Intercontec with socket contacts is used on
the motor end for RH.M / AS1H / ES1H. The shield is connected in the connector hous-
ing according to EMC requirements. All plug connectors seal the plug on the cable end
with a lamellar seal.
Prefabrication on A commercial D-sub EMC connector with pin contacts is used on the inverter end. A 9-
inverter end pin or 15-pin connector to suit the inverter is used.
Prefabricated The outer cable sheath on the motor and inverter end bears a nameplate with part num-
cables ber and logo of the prefabricated cable manufacturer. The ordered length and permitted
tolerance are interrelated as follows:
• Cable length ≤ 10 m: Tolerance 200 mm.
• Cable length > 10 m: Tolerance + 2%.
INFORMATION
Refer to the system manual of the servo inverter for information on how to determine
the maximum cable length.
Make sure that an EMC-compliant environment is maintained during project planning.

f 5
i
P Hz
5.1.4 Structure of AL1H encoder cables for SL2 motors 1
2
[4]
500
3
[1]
[2] 4
X
5
[3] 6
Y 8
2965597963
[1] Connector: Intercontec ASTA 9

[2] Nameplate
[3] D-sub plug
[4] Screw terminal 10
Prefabrication on With MOVIAXIS®, the temperature sensor of the linear motor can also be connected via 11
inverter end screw terminals and evaluated via the encoder input.
12
13
14
15
16
17
18
19
20
21
22

5 f
Encoder and extension cables for synchronous motors
i
P Hz
5.2 Encoder and extension cables for synchronous motors

5.2.1 Resolver
Illustration of RH.M resolver cable
X
Y
2991291531
Types of RH.M resolver cables
Routing Part number

Fixed installation 1332 7429
Cable carrier installation 1332 7437
Pin assignment of resolver cable RH.M
Motor connection side Connection MOVIAXIS® MX

Plug connector Pin no. Description Cable core color Description Pin no. Plug connector
1 R1 (reference +) (PK) Pink R1 (reference +) 5
ASTA 021FR
2 R2 (reference -) (GY) Gray R2 (reference -) 13
3 S1 (cosine +) (RD) Red S1 (cosine +) 2 D-sub
198 921 9
4 S3 (cosine -) (BU) Blue S3 (cosine -) 10
15-pole
12-pin with socket 5 S2 (sine +) (YE) Yellow S2 (sine +) 1
contacts 6 S4 (sine -) (GN) Green S4 (sine -) 9
7 n. c. - n. c. 3
8 n. c. - n. c. 4 9
1
8
9 1
2
9 TF/KTY + (BN) Brown / (VT) violet1) TF/KTY + 14
E
7 12 10 3
10 TF/KTY - (WH) White/(BK) Black1) TF/KTY - 6
6 11 15
5 4 8
11 n. c. - n. c. 7
12 n. c. - n. c. 8
- - n. c. 11 View Y
- - n. c. 12
View X
- - n. c. 15
1) Double assignment to increase cross section
All connectors are shown with view onto the pins.

f 5
i
P Hz
Extension cable for RH.M resolver 1
2
X Y
3
2991419147
4
Types of extension cables for RH.M resolvers
5
Routing Part number
Fixed installation 0199 5421 6
7
Pin assignment of extension cable for RH.M resolver
8
Plug connector Pin no. Description Cable core color Description Pin no. Plug connector 9
ASTA 021FR 1 R1 (reference (PK) Pink R1 (reference 1 AKUA 020MR
+) +)
10
198 673 2 2 R1 (reference -) (GY) Gray R1 (reference -) 2 199 647 9
3 S1 (cosine +) (RD) Red S1 (cosine +) 3
12-pole with 12-pin with pin 11
4 S3 (cosine -) (BU) Blue S3 (cosine -) 4 contacts
socket contacts
5 S2 (sine +) (YE) Yellow S2 (sine +) 5
6 S4 (sine -) (GN) Green S4 (sine -) 6
12
8
9 1 7 n. c. - n. c. 7
2
7 12
E
10 3 8 n. c. - n. c. 8 P 13
6 11
5 4 9 TF/ KTY + (BN) Brown / (VT) Violet1) TF/ KTY + 9
10 TF/ KTY - (WH) White/(BK) Black 1)
TF/ KTY - 10 14
11 n. c. - n. c. 11
View X 12 n. c. - n. c. 12 View Y 15
16
Alternative plug connectors

17
18
Type Cross section Routing Part number
6 × 2 × 0.06 .– 1 mm2 (AWG 29 – Fixed installation / cable car-
RH.M / RH.L
AWG 18) rier installation
0198 6732 19
20
Signal plug connector with pins (complete)
Type Cross section Routing Part number 21
2
6 × 2 × 0.06 – 1 mm (AWG 29 – Fixed installation / cable car-
RH.M / RH.L 0199 6479
AWG 18) rier installation
22

5 f
i
P Hz
Illustration of RH.M/RH.L resolver cable – terminal box
2991597707
Types of RH.M/RH.L resolver cables – terminal box

DFS Fixed installation 1332 7445
DFS Cable carrier installation 1332 7453
5 × 2 × 0.25 mm2 (AWG 24)
CFM Fixed installation 1332 7623
CFM Cable carrier installation 1332 7631
Pin assignment of RH.M/RH.L resolver cables – terminal box
MOVIAXIS® MXA with DFS/CFM motors – RH.M/RH.L resolver cable for terminal box connection
Motor connection side MOVIAXIS® MX connection
Terminal strip Pin no. Description Cable core color Description Pin no. Plug connec-
tor
1 R1 (REF +) Pink (PK) R1 (reference +) 5
2 R2 (REF -) Gray (GY) R2 (reference -) 13
3 S1 (COS +) Red (RD) S1 (cosine +) 2
4 S3 (COS -) Blue (BU) S3 (cosine -) 10
1
5 S2 (SIN +) Yellow (YE) S2 (sine +) 1 D-sub 15-pin

2
6 S4 (SIN -) Green (GN) S4 (sine -) 9

3
4
7 n. c - n. c 3
5
8 n. c - n. c 4 1
6
9
9 TF / TH / KTY + Brown (BN) / violet (VT) TF / TH / KTY + 14
7
10 TF / TH / KTY - White (WH) / black (BK) TF / TH / KTY - 6

8
9
11 - - n. c 7 15 8
10
12 - - n. c 8
13 - - n. c 11
14 - - n. c 12 View Y
View X
15 - - n. c 15

f 5
i
P Hz
5.2.2 Absolute encoder 1

®
Illustration of Hiperface encoder cable
2
X 3
Y 4
2991291531 5
Types of Hiperface® encoder cables 6
Routing Part number 7

Cable carrier installation 1332 4551 8
Pin assignment of Hiperface® cables for AK0H / EK0H / AS1H / ES1H encoders 9
10
Motor connection side MOVIAXIS® MX connection
Plug connector Pin no. Description Cable core color Description Pin no. Plug connector 11
1 n. c. n. c. n. c. 3
ASTA 021FR
2 n. c. n. c. n. c. 5 D-sub
3 S1 (cosine +) (RD) Red S1 (cosine +) 1 12
198 921 9
4 S3 (cosine -) (BU) Blue S3 (cosine -) 9 15-pole
12-pin with socket 5 S2 (sine +) (YE) Yellow S2 (sine +) 2 13
contacts 6 S4 (sine -) (GN) Green S4 (sine -) 10
7 DATA- (VT) Violet DATA- 12
8 DATA+ (BK) Black DATA+ 4 14
1
9
8
9 1
2
9 TF/KTY + (BN) Brown TF/KTY + 14
E
7 12
6 11
5 4
10 3
10 TF/KTY - (WH) White TF/KTY - 6 15
11 GND (GY/PK) Gray/Pink1) GND 8 15 8
12 Us (RD/BU) Red/Blue1) Us 15
- - n. c. 7 16
- - n. c. 11 View Y
View X
- - n. c. 13 17
18
19
20
21
22

5 f
i
P Hz
Illustration of extension cable for Hiperface® encoders AK0H / EK0H / AS1H / ES1H
X Y
2992036235
Types of extension cables for Hiperface® encoders AK0H / EK0H / AS1H / ES1H
Routing Part number

Pin assignment of extension cables for Hiperface® encoders AK0H / EK0H / AS1H / ES1H
ASTA 021FR 1 n. c. - n. c. 1 AKUA 020MR
2 n. c. - n. c. 2
198 673 2 199 647 9
3 S1 (cosine +) (RD) Red S1 (cosine +) 3
12-pole with 4 S3 (cosine -) (BU) Blue S3 (cosine -) 4 12-pin with pin

socket contacts 5 S2 (sine +) (YE) Yellow S2 (sine +) 5 contacts
6 S4 (sine -) (GN) Green S4 (sine -) 6

7 DATA- (VT) Violet DATA- 7
9 1
8 P
E 2 8 DATA+ (BK) Black DATA+ 8
7 12 10 3
6 11 9 TF/KTY + (BN) Brown TF/KTY + 9
5 4
10 TF/KTY - (WH) White TF/KTY - 10
11 GND (GY/PK) Gray/Pink / (PK) Pink GND 11

View X 12 Us (RD/BU) Red/Blue / (GY) Gray Us 12 View Y
Alternative plug connectors for AK0H / EK0H / AS1H / ES1H Hiperface® encoder cables
Type Cross sections that can be connected Part no.

AK0H
EK0H
6 x 2 x 0.06 – 1 mm2 0198 6732
AS1H
ES1H

f 5
i
P Hz
Illustration of encoder cable type CFM terminal box 1
2
X
3
Y
4
2992525707
5
Types of terminal box encoder cables
6
CFM Fixed installation 1332 4578 7
6 × 2 × 0.25 mm2 (AWG 24)
CFM Cable carrier installation 1332 4543
8
Pin assignment of terminal box encoder cable
9
Hiperface® cable for terminal box connection – MOVIAXIS® MX with CFM motors
Motor connection side MOVIAXIS® M connection 10
Terminal strip Pin no. Description Cable core color Description Pin no. Plug con-
nector
- Data + Black (BK) Data + 4
11
- Data - Violet (VT) Data - 12
- S1 (COS +) Red (RD) S1 (COS +) 1
1
12
- S3 (COS -) Blue (BU) S3 (COS -) 9 9
- S2 (SIN +) Yellow (YE) S2 (SIN +) 2

- S4 (SIN -) Green (GN) S4 (SIN -) 10 15
13
8
- GND Gray-pink (GYPK) / pink (PK) GND 8
- Us Red blue (RDBU) Us 15 14
- TF / TH / KTY + Brown (BN) TF / TH / KTY + 14
- TF / TH / KTY - White (WH) TF / TH / KTY - 6
15
View Y
16
17
18
19
20
21
22

5 f
i
P Hz
Illustration of encoder cable for DS terminal box
2992525707
Types of terminal box encoder cables

DS Fixed installation 1332 7658
6 × 2 × 0.25 mm2 (AWG 24)
DS Cable carrier installation 1332 7666
Pin assignment of terminal box encoder cable
Hiperface® cable for terminal box connection – MOVIAXIS® MX with DS motors

Motor connection side MOVIAXIS® M connection
Terminal strip Pin no. Description Cable core color Description Pin no. Plug con-
nector
6 Data + Black (BK) Data + 4
5 Data - Violet (VT) Data - 12
1
1 S1 (COS +) Red (RD) S1 (COS +) 1

2
1
2 S3 (COS -) Blue (BU) S3 (COS -) 9
3
9
4
3 S2 (SIN +) Yellow (YE) S2 (SIN +) 2

5
4 S4 (SIN -) Green (GN) S4 (SIN -) 10 15 8

6
7 GND Gray-pink (GYPK) / pink (PK) GND 8

7
8 Us Red-blue (RDBU) / gray (GY) Us 15

8
9 10
9 TF/KTY + Brown (BN) TF/KTY + 14

10 TF/KTY - White (WH) TF/KTY - 6
11 12
View X View Y

f 5
i
P Hz
5.2.3 SL2 linear motors 1

®
Cable for MOVIAXIS AL1H encoder
Using the following cable, also the temperature switch of the linear motor can be con- 2
nected to the encoder input.
3
4
X
5
Y 8
2993031307
9
Type Routing Part number
SL2 Fixed installation 1333 2236 10
SL2 Cable carrier installation 1333 2244
11
Cable pin assign-
ment for encoder 12
cables
Encoder end MOVIAXIS connection® 13
1 S3 (cosine -) Blue (BU) S3 (cosine -) 9
ASTA021FR 2 Data (+) Black (BK) Data (+) 4 14
3 n. c. n. c. 3
198 921 9 Sub-D 15-pin
4 n. c. n. c. 5 15
5 S2 (sine +) Yellow (YE) S2 (sine +) 2
12-pole with
6 S4 (sine -) Green (GN) S4 (sine -) 10
socket contacts
7 Data (-) Violet (VT) Data (-) 12 16
8 S1 (cosine +) Red (RD) S1 (cosine +) 1
9 n. c. n. c. 6 17
8 9 1
7 12 10
10 GND Gray/pink (GY/PK) / pink GND 8
6 11 2 (PK)
5 4
3
11 n. c. n. c. 7 18
12 Us Red/blue (RD-BU) / gray Us 15
(GY)
View X n. c. n. c. n. c. 11 19
View Y
n. c. n. c. n. c. 13
n. c. 20
1 TF/TH/KTY+ BN TF/TH/KTY+ 14
1
2 2 TF/TH/KTY- WH TF/TH/KTY- 6
3 3 Shielding PE 21
22

5 f
i
P Hz
Extension cable for AL1H encoders
X Y
2993590795
Type Routing Part number

SL2 Cable carrier installation 1333 387 9
Cable pin assign-

ment for encoder
cables
Encoder end MOVIAXIS connection®
1 S3 (cosine -) Blue (BU) S3 (cosine -) 1
ASTA021FR 2 Data (+) Black (BK) Data (+) 2
3 n. c. n. c. 3
198 921 9 4 n. c. n. c. 4 AKUA020 MR
5 S2 (sine +) Yellow (YE) S2 (sine +) 5
12-pole with
socket contacts 12-pole
7 Data (-) Violet (VT) Data (-) 7
9 n. c. n. c. 9
8 9 1
7 12 10
10 GND Gray/pink (GY/PK) / pink GND 10
6 11 2 (PK)
3
5 4 11 n. c. n. c. 11
12 Us Red/blue (RD-BU) / gray Us 12
(GY)
View X n. c. n. c. n. c.
View Y
n. c. n. c. n. c.
n. c.
Alternative plug
connector at cus-
Type Cross sections Part no.
tomer end
ALH1 6 x 2 x 0.25 mm2 01986732

Structure of encoder cables for asynchronous motors
f 5
i
P Hz
5.3 Structure of encoder cables for asynchronous motors 1

5.3.1 Encoder cable with D-sub
2
Variant with connection cover:
l = 500 mm
3
C 4
5
A
6
B B
7
8
B l=x
9007202251648523
9
Variant with M23 connector. 10

l = 500 mm
11
12
C
A 13
A 14
B B A 15
l=x 16
B
9007202251651851 17
18
19
20
21
22

5 f
Structure of encoder cables for asynchronous motors
i
P Hz
Variant with conductor end sleeves.
l = 500 mm
B B
l=x
B
9007202251655563
Prefabrication on The prefabricated encoder cables for the add-on encoders on the DR motor are avail-
encoder/motor end able with three different designs on the encoder/motor end.
• With connection cover: If the encoder on the motor is ordered and delivered without
a connection cover, the prefabricated cable is fitted with a connection cover on the
encoder end.
• With M23 connector: Prefabricated encoder cables for add-on encoders on the motor
are available with a M23 coupling connector with socket contacts on the encoder/mo-
tor end.
• Conductor end sleeves: If the encoder on the motor is ordered and delivered with a
connection cover, the prefabricated cable is fitted with conductor end sleeves on the
encoder end. The customer is responsible for connecting the terminal strip in the
connection cover. The cable gland in the connection cover is included in the scope
of delivery of the encoder.
Prefabrication on A commercial D-sub EMC connector with pin contacts is used on the inverter end of the
MOVIAXIS®/ prefabricated encoder cable for connection to MOVIAXIS® (X13).
inverter end

Encoder and extension cables for asynchronous motors
f 5
i
P Hz
5.4 Encoder and extension cables for asynchronous motors 1

The temperature protection signals must be fed to the encoder connection via the luster
terminals. This is the only way to ensure thermal motor protection. 2
5.4.1 Encoder cables for DR. motors 3

Encoder cable with connection cover and D-sub
Prefabricated
4
cables for encod-
Encoder types
ers 5
ES7S, EG7S, ES7R, EG7R, AS7W, AG7W
6
Cable drawing, wiring
l = 500 mm
7
C
8
A 9
B B
10
B l=x
11
18014401506389515
I = x: Length that can be ordered 12

MOVIAXIS® connection Motor connection side
Plug connector Pin Signal Cable core color Signal Pin 13
1 A Red (RD) cos + A
9 A Blue (BU) cos- A 14
2 W Yellow (YE) sin+ B
D-sub 10 B Green (GN) sin- B 15

3 C Brown (BN) C+ C
11 C White (WH) C C 16
1
9 4 D Black (BK) Data+ D
12 D Violet (VT) Data- D
17
15 8 15 UB Gray (GY) UB +UB
15 UB Red/blue (RD/BU) UB +UB
15-pole 18
8 GND Pink (PK) GND GND
8 GND Gray/pink (GY/PK) GND GND
14 TF/TH/KTY+ Brown (BN) TF/TH/KTY+ 1
19
6 TF/TH/KTY- White (WH) TF/TH/KTY- 2
Shielding 3 20
Part numbers 21
Cable type Connection cover, D-sub 15
22

5 f
i
P Hz
Encoder cable with M23 and D-sub

Prefabricated
cables for encod-
Encoder types
ers
ES7S, EG7S, ES7R, EG7R, AS7W, AG7W
Cable drawing, wir-

ing
l = 500 mm
C
A
B B A
l=x
B
9007202251651851
I = x: Length that can be ordered

Pin Signal Cable core color Signal Pin
1 A Red (RD) A cos+ 3
9 A Blue (BU) A cos- 4
2 B Yellow (YE) B sin+ 5
ASTA 021 FR
D-sub 10 B Green (GN) B sin- 6
3 C Brown (BN) C+ 1
11 C White (WH) C 2 9 1
8
1 E 2
9 4 D Black (BK) Data+ 8
7 12 10 3
12 D Violet (VT) Data- 7 6 11
5 4
15 8 15 UB Gray (GY) UB 12
15 UB Red/blue (RD/BU) UB 12
15-pole
8 GND Pink (PK) GND 11
8 GND Gray/pink (GY/PK) GND 11
Shielding 3
Part numbers
Cable type M23, D-sub 15

f 5
i
P Hz
Encoder cable with conductor end sleeves and D-sub 1

Prefabricated
cables for encod- 2
Encoder types
ers
E.7., A.7.
3
Cable drawing, wir-
ing 4
l = 500 mm
5
6
C
7
A 8
B B 9
l=x 10
B
9007202251655563 11
I = x: Length that can be ordered
12
Plug connector Pin Signal Cable core color Signal Pin
13
1 A Red (RD) A cos+
9 A Blue (BU) A cos-
2 B Yellow (YE) B sin+
14
D-sub 10 B Green (GN) B sin-
3 C Brown (BN) C+ 15
11 C White (WH) C
9
1
4 D Black (BK) Data+ 16
12 D Violet (VT) Data-
15 8 15 UB Gray (GY) UB 17
15 UB Red/blue (RD/BU) UB
15-pole
8 GND Pink (PK) GND 18
8 GND Gray/pink (GY/PK) GND
19
Shielding 3
20
Part numbers
21
Cable type Conductor end sleeves, D-sub 15
Fixed installation 1363 1659 22

5 f
i
P Hz
5.4.2 Encoder extension cables for DR. motors

Encoder extension cable with connection cover and M23
Prefabricated
cables for encod-
Encoder types DR.71 – 132 DR.160 – 225
ers
Sine encoder ES7S EG7S
TTL (VB = DC 9 – 30 V) ES7R ES7R
RS485 AS7W AG7W
Cable drawing, wir-

ing
4173472011
Inverter connection Motor connection side

Plug connec- Cable core
Pin Signal Signal Pin Plug connector
tor color
3 A cos+ Red (RD) A cos+
4 A cos- Blue (BU) A cos-
5 B sin+ Yellow (YE) B sin+
AKUA 020
6 B sin- Green (GN) B sin-
1 C+ Brown (BN) C+
P
2 C White (WH) C
8 Data+ Black (BK) Data+
7 Data- Violet (VT) Data-
Red/blue + gray
12 UB UB
(RD-BU + GY)
Gray-pink+pink
11 GND GND
(GY-PK+PK)
Part numbers
Cable type Connection cover, M23

f 5
i
P Hz
Encoder extension cable with conductor end sleeves and M23 1

Prefabricated
cables for encod- 2
ers
TTL (VB = DC 9 – 30 V) ES7R ES7R 3
RS485 AS7W AG7W
4
Cable drawing, wir-
ing 5
Y
6
4173474571 7
Inverter connection Motor connection side
Plug connector Pin Signal Cable core color Signal Pin 8
3 A cos+ Red (RD) A cos+
4 A cos- Blue (BU) A cos- 9
5 B sin+ Yellow (YE) B sin+
AKUA 020
6 B sin- Green (GN) B sin-
10
1 C+ Brown (BN) C+
2 C White (WH) C
P
11
8 Data+ Black (BK) Data+
7 Data- Violet (VT) Data-
Red/blue + gray
12
12 UB UB
(RD-BU + GY)
11 GND
Gray-pink+pink
GND 13
(GY-PK+PK)
Part numbers
14
Cable type Conductor end sleeves, M23

15
16
17
18
19
20
21
22

5 f
i
P Hz
Encoder extension cable with two M23

Prefabricated
cables for encod-
ers
TTL (VB = DC 9 – 30 V) ES7R ES7R
RS485 AS7W AG7W
Cable drawing, wir-

ing
B A
Y X
4173478155
Motor connection side Inverter connection

Cable core
Pin Signal Signal Pin Plug connector
color
3 A cos+ Red (RD) A cos+ 3
4 A cos- Blue (BU) A cos- 4
5 B sin+ Yellow (YE) B sin+ 5
AKUA 020 ASTA 021FR
6 B sin- Green (GN) B sin- 6
1 C+ Brown (BN) C+ 1
2 C White (WH) C 2 9 1
8
P E 2
8 Data+ Black (BK) Data+ 8 7 12 10 3
7 Data- Violet (VT) Data- 7 6 11

5 4
Red/blue +
12 UB gray (RD-BU + UB 12
GY)
Gray-pink+pink
11 GND GND 11
(GY-PK+PK)
Part numbers
Cable type M23 – M23

f 5
i
P Hz
5.4.3 Encoder and extension cables for CT/CV motors 1

® ®
Illustration of the Hiperface encoder cable – MOVIAXIS
The temperature protection signals must be fed to the encoder connection via the luster 2
terminals. This is the only way to ensure thermal motor protection.
3
4
X
5
Y 7
2997228939
Encoder cable types 8
9
Type Cross section Part number Routing
1333 1493 Fixed installation
DT/DV, CT/CV 6 x 2 x 0.25 mm2 + 2 x 0.25 mm2 10
1333 1507 Cable carrier installation
11
Extension cable
12
0199 5391 Fixed installation 13
DT/DV, CT/CV 6 x 2 x 0.25 mm2 + 2 x 0.25 mm2
14
Pin assignment
Pin assignment for Hiperface® encoder cables 15
Motor connection side MOVIAXIS® MXA connection
Plug connector Pin no. Description Cable core color Description Pin no. Plug connec-
tor 16
1 n. c. n. c. n. c. -
ASTA021FR 2 n. c. n. c. n. c. -
17
0198 9219 4 S3 (cosine -) Blue (BU) S3 (cosine -) 9 D-sub
5 S2 (sine +) Yellow (YE) S2 (sine +) 2 15-pole 18
12-pin with socket
contacts
7 DATA- Violet (VT) DATA- 12
19
8 DATA+ Black (BK) DATA+ 4 1
9
9 1
9 n.c. n.c. -
8
7 12
E 2
10 3 10 n.c. n.c. - 20
11 15
6
5 4 11 GND Gray/pink (GY/PK) / GND 8 8
Pink (PK)
12 Us Red/blue (RD/BU) / Us 15
21
View Y
View X Gray (GY)
22
1 TF / TH / KTY + Brown (BN) TF / TH / KTY + 14
2 TF / TH / KTY - White (WH) TF / TH / KTY - 6
3 Shielding

5 f
i
P Hz
Illustration of the TTL encoder cable – MOVIAXIS®
Y
2997276683
The temperature protection signals must be fed to the encoder connection via the luster
terminals. This is the only way to ensure thermal motor protection.
Encoder cable types

1333 1515 Fixed installation
DT/DV, CT/CV 6 x 2 x 0.25 mm2 + 2 x 0.25 mm2
Pin assignment
Pin assignment for TTL encoder cables

Motor connection side MOVIAXIS® MXA connection
tor
- A / K1 Yellow (YE) A / K1 1
- B / K2 Red (RD) B / K2 2
- C / K0 Pink (PK) C / K0 3 D-sub
- DGND Violet (VT) DGND 8 15-pole
- DGND Brown (BN) DGND 8
- A / K1 Green (GN) A / K1 9
- B / K2 Blue (BU) B / K2 10
- C / K0 Gray (GY) C / K0 11 1
9
- + 24 V White (WH) + 24 V 15
- + 24 V Black (BK) + 24 V 15
15 8

View Y
3 Shielding

f 5
i
P Hz
5.4.4 Illustration of the MOVIAXIS® TTL / 5 V encoder cable at DWI11A / X1 1
4
Y
5
8775030027
6
Encoder cable types
7
0198 8298 Fixed installation 8
DT/DV, CT/CV 6 x 2 x 0.25 mm2
0198 828X Cable carrier installation
9
Pin assignment
10
Motor connection side MOVIAXIS® MXA connection 11
tor
CS A / K1 Yellow (YE) A / K1 1 12
CS B / K2 Red (RD) B / K2 2
CS C / K0 Pink (PK) C / K0 3 D-sub
CS C / K0 Gray (GY) C / K0 8 15-pole 13
CS A / K1 Green (GN) A / K1 6
CS B / K2 Blue (BU) B / K2 7 14
CS DGND Brown (BN) DGND 5
UB White (WH) UB 9 1
CS
Violet (VT) 4
9 15
- Cut Black (BK) n.c.
16
15 8
View Y
17
18
19
20
21
22

5 f
i
P Hz
5.4.5 DC 5 V encoder power supply type DWI11A

Illustration of the DWI11A TTL 5 V encoder cable – MOVIAXIS®
Y
X
2997432075
Encoder cable types
6 x 2 x 0.25 mm2 + 2 x 1333 1531 Fixed installation

DT/DV, CT/CV
0.25 mm2 -- --
Pin assignment

DWI connection side MOVIAXIS® MXA connection
tor
D-sub 1 A / K1 Yellow (YE) A / K1 1 D-sub
9-pole 2 B / K2 Red (RD) B / K2 2 15-pole
3 C / K0 Pink (PK) C / K0 3
5 DGND Violet (VT) DGND 8
1 5 DGND Brown (BN) DGND 8 1
6 9
6 A / K1 Green (GN) A / K1 9
7 B / K2 Blue (BU) B / K2 10
9 5 8 C / K0 Gray (GY) C / K0 11 15 8
9 + 24 V White (WH) + 9 – 12 V 15
9 + 24 V Black (BK) + 9 – 12 V 15
View X View Y

3 Shielding

Cable specification of encoder cables
f 5
i
P Hz
5.5 Cable specification of encoder cables 1

5.5.1 Fixed installation of encoder cables
2
Cable cross sections 6 x 2 x 0.25 mm2 5 x 2 x 0.25 mm2
3
Operating voltage V0 / V AC V 230 / 350 4
Temperature range °C Fixed installation -40 to +80
Max. temperature °C + 80
Min. bending radius mm 43 36.5
5
Diameter D mm 8.6 ± 0.2 7.3 ± 0.2
Core identification DIN 47 100 6
Sheath color Green, similar to RAL 6018
Approval(s) DESINA / VDE /
Capacitance core/shielding nF/km 110
7
Capacitance core/core nF/km 70
Halogen-free No 8
Silicone-free Yes
CFC-free Yes
9
Outer insulation (sheath) PVC
Flame-retardant/self-extinguish- No 10
ing
Conductor material Cu blank
Shielding Braided tinned Cu 11
Weight (cable) g/km 107 78
12
5.5.2 Cable carrier installation of encoder cables
13
Cable cross sections 6 x 2 x 0.25 mm2 5 x 2 x 0.25 mm2 4 x 2 x 0.25 mm2
Manufacturer Nexans 14
Manufacturer designation SSL18YC11Y 6 x 2 x 0.25/ SSL11YC11Y 5 x 2 x 0.25
Operating voltage V0 / V AC V 300 15
Temperature range °C -20 to +60 -20 to +80
Max. temperature °C +90 (on conductor) +80
Min. bending radius mm 100 95 63 16
Diameter D mm 9.8 ± 0.2 9.5 ± 0.2 8.4 ± 0.2
Maximum acceleration m/s2 20 17
Max. velocity m/min 200
Core identification WH/BN, GN/YE, GY/PK, WH/BN, GN/YE, WH/BN, GN/YE,
BU/RD, BK/VT, GY-PK/RD- GY/PK, BU/RD, GY/PK 18
BU BK/VT
Sheath color Green similar to RAL 6018
Approval(s) DESINA / VDE / 19
Capacitance core/shielding nF/km 100 110
Capacitance core/core nF/km 55 70 20
Table continued on next page
21
22

5 f
Cable specification of encoder cables
i
P Hz
Cable cross sections 6 x 2 x 0.25 mm2 5 x 2 x 0.25 mm2 4 x 2 x 0.25 mm2

Manufacturer Nexans
Halogen-free Yes
Silicone-free Yes
CFC-free Yes
Inner insulation (core) PP TPE-EE
Outer insulation (sheath) TPE-U PUR
Flame-retardant/self-extin- Yes
guishing
Shielding Braided tinned Cu
Weight kg/km 130 120 89
Min. bending cycles ≥ 5 million

Suitable motors
Synchronous servomotors
6
6 Suitable motors 1
6.1 Synchronous servomotors
2
6.1.1 Description of CMP motors
The CMP servomotor series combines high dynamics, high torques, and precision in a 3
compact design.
Their innovative design with the latest in winding and magnet technology offers a motor 4
system with optimum dynamics and the best control characteristics at the smallest
space. The cast stator protects the motor against vibrations and humidity.
5
CMP servomotors can be combined with MOVIAXIS® multi-axis servo inverters and
MOVIDRIVE® inverters.
6
10
2997677835
11
6.1.2 CMP motor characteristics
12
• Static torque from 0.5 to 95 Nm
• High dynamics (ratio between rated torque and mass moment of inertia of the motor)
13
• High degree of protection (IP65)
• Robust encoder system (resolver) 14
• The optimal encoder system with sine/cosine encoder allows for a very wide setting
range and absolute position detection 15
• High continuous torque at low speeds and at standstill, without forced cooling fan
• High overload capability 16
• NeFeB magnets, permanent magnets with high magnetic flux density.
17
6.1.3 Description of CMPZ motors
18
CMPZ synchronous servomotors are equipped with an internal additional flywheel
mass. These motors combine high torques and precision in a compact design and pro-
vide particularly favorable control characteristics with high external masses. Further- 19
more, the internal higher moment of inertial allows for a smaller gear ratio.
In addition to the above mentioned features of the CMP motors, CMPZ motors are op- 20
tionally available with a powerful working brake with high working capacity and optional
manual brake release.
21
22

Suitable motors
6 Synchronous servomotors
6.1.4 Product description – CFM synchronous servomotors

CRM servomotors feature a wide torque range, good control characteristics with high
external masses, the use of powerful working brakes, and a wide range of options.
2997686411
Characteristics of CFM motors:

• Up to 4 x overload capacity
• Stator with pull-in winding
• Mounting of standard and servo gear units possible
• Direct mounting of gear unit possible
• Resolver or high-resolution absolute encoder possible
• Connectors or terminal box
• Optional forced cooling fan
• Optional brake with working capacity
• TF or KTY sensor for thermal motor protection
• Optional second shaft end
• Optional reinforced bearings
The CFM servomotors can be combined with the MOVIAXIS® multi-axis servo inverter
and the MOVIDRIVE® inverter.

Suitable motors
6
6.1.5 Description of CMDV motors 1

The compact CMDV servomotors come without housing and are convection cooled;
they offer standstill torques from 0.3 to 32 Nm with an overload capacity of factor six. 2
The strong bearings and the low-vibration design make these motors the ideal compo-
nent for applications with small installation spaces and directly powered servo applica-
tions. 3
7
3659907979
8
6.1.6 CMDV motor characteristics
• High dynamics 9
• Compact design
• Six-fold overload capacity 10
• High rotational accuracy
11
• Low mass
• Suitable for direct drive 12
• Degree of protection IP65
• Convection-cooled 13
• Minimal projecting edges
• 24 V holding brake 14
• Hiperface® encoder for all motors
15
• Hollow shaft variant CMDH possible
• UL and CSA approval
16
17
18
19
20
21
22

Suitable motors
6 Synchronous servomotors
6.1.7 Product description – CMS electric cylinders

Applications with linear movement place high demands on the travel profile. Conven-
tional solutions consisting of pneumatic and hydraulic cylinders will quickly reach their
system limits in terms of performance.
Combining electric cylinders with the in-

verters from SEW-EURODRIVE results in
intelligent drive systems that offer a high
degree of flexibility and positioning accu-
racy as well as new options in program-
ming, power control and diagnostic func-
tions. These translate into new and reliable
concepts that can be integrated into a vari-
ety of production processes.
2997873547
The electric cylinders of the CMS series are precise, powerful and fast. When combined
with drive electronics from SEW-EURODRIVE, they form economical, energy-efficient
drive solutions that ensure a high level of process reliability in system operation and are
easy to integrate into existing automation systems.

Suitable motors
6
6.1.8 Product description – SL2 series linear motors 1

SEW-EURODRIVE SL2 linear motors are designed as short stator motors. This tech-
nology achieves maximum forces in combination with small sizes and low weight. 2
5
2997988619
Motors of the SL2 series are used whenever there is a need for precision, dynamics, re- 6
peat accuracy and high traverse rates. This motor series is characterized by the opti-
mum force-density ratio accomplished by using one of the latest winding technologies
and the laminated iron core. 7
This motor system is perfectly suited for many applications, including highly dynamic
and flexible processing machines, material handling environments as well as pick-and- 8
place applications.
9
Criteria for the selection of an SL2 include the following:
• Excellent positioning behavior even at high traversing rates of up to 6 m/s (also with 10
absolute encoder)
• High stiffness of the control system in connection with MOVIDRIVE® and 11
MOVIAXIS® servo inverters
• There is no backlash or spring effects associated with mechanical transmission com- 12
ponents
• No wear due to contactless energy transfer 13
• Low noise development
• Minimum downtimes when system faults occur
14
• High synchronous operation accuracy
15
• High level of enclosure, IP65
• Low-overhead system through convection cooling 16
• optimized handling for operator due to motor cooling unit (additional information on
motor cooling unit in section 2.8). 17
• Advantages for the user:
• SL2-Advance System: 18
Fast and simple task handling through optimized, highly dynamic motor cool-
ing unit for flexible mounting of components by the customer. 19
• SL2-Power System:
In addition to the SL2-Advance System, the nominal power (nominal thrust) is 20
increased by installation of forced cooling fans without an increase in weight.
• SL2-Advance System / SL2-Power System 21
Allow for optimum and fast integration of the drive system in the plant. The per-
formance characteristics of the systems enable excellent machine perfor- 22
mance

Suitable motors
6 Asynchronous servomotors
6.2 Asynchronous servomotors

6.2.1 Product description – DRL asynchronous servomotors
Description Asynchronous servomotors are the link between the classical asynchronous AC motors
for supply system and inverter operation and the highly dynamic synchronous servomo-
tors with permanent magnets.
2998238987
DRL motor vari- Asynchronous servomotors of the DRL series are a drive package made up from the
ants many options of the modular DR motor system.
In its basic variant, the drive package always contains
• An encoder, sine signals, and electronic nameplate
• Thermal motor protection
• Dynamics package
• Various connection options
• Winding optimized with respect to speed
Depending on the application and requirements, the following elements can be added:
• Forced cooling fan
• Connection via plug connectors instead of terminals
• Temperature detection
• And many more
Alternatives can be selected instead of the elements of the basic variant, e.g. an abso-
lute encoder instead of the sine encoder.
Dynamics AC motors operated on the supply system usually have an overload capacity of 160% –
180% of the nominal torque during startup.
If the motor is operated on an inverter of the same power, the inverter usually provides
150% current, and thus roughly 150% torque, for 60 seconds during startup. If a larger
inverter is selected, the inverter can provide a higher current and theoretically a greater
torque as well. In this case, the mechanical resistance of the motor against the overload,
which might reach or exceed the permitted limit values, must be checked.
The mechanical design of asynchronous servomotors of the DRL series is of such a high
quality that dynamic overload values can be reached which exceed the classical values
of an asynchronous motor operated on a supply system or inverter and almost match
the values of a synchronous servomotor.

Suitable motors
Asynchronous servomotors
6
Overload capacity As a rule, the synchronous servomotors and the corresponding inverters are designed 1
for a high short-time overload. 400% of the nominal torque can usually be reached and
are permitted.
2
Dynamics pack- SEW-EURODRIVE offers the DRL motors in two dynamics packages:
ages 3
Stack Overload capacity to nominal torque
Dynamics 1 (D1) 190 % – 220%
4
Dynamics 2 (D2) 300 % – 350 %
The nameplate of the motor specifies the data of the respective dynamics package. 5
Speeds SEW-EURODRIVE offers the DRL servomotors with 4 speed ratings:

6
• 1200 rpm
• 1700 rpm 7
• 2100 rpm
• 3000 rpm 8
In inverter operation, field weakening begins at the rated speed.
9
10
11
12
13
14
15
16
17
18
19
20
21
22

Suitable motors
6 Non-SEW motors
6.3 Non-SEW motors

MOVIAXIS® can basically operate any asynchronous or synchronous servomotor with
feedback. Depending on the motor and the specific application, startup can be per-
formed on site using the startup function for non-SEW motors that is integrated in Mo-
tionStudio.
For more complex applications (e.g. asynchronous motors), SEW-EURODRIVE offers
to measure non-SEW motors and create a startup file for them (which is then integrated
in the SEW motor data base) subject to charge.
6.3.1 Permitted encoder interfaces

MOVIAXIS® supports interfaces, which can be used to operate non-SEW encoder sys-
tems in general.
Note: Non-SEW encoders must not be operated without approval by or consultation with
SEW-EURODRIVE. Failure to do so will void any product liability and warranty claims.
6.3.2 Special motors/torque motors

Torque motors of all types (ring, built-in, separate housing) can be operated with
MOVIAXIS®.
Stepper motors and reluctance motors cannot be operated.
Please contact SEW-EURODRIVE if you want to operate linear motors without iron.
Classic linear motors (with iron core/independent of the mounting position) can be op-
erated.

Additional system components
Suitable encoder systems
7
7 Additional system components 1

7.1 Suitable encoder systems
2
A current list of connectable encoders is stored in MotionStudio under MOVIAXIS®
motor startup.
3
Manufacturer Designation Interface Comment Units
SEW AF1H Hiperface® ROTATIONAL MXA1), XGH, XGS,
®
4
SEW AG7W Hiperface ROTATIONAL MXA1), XGH, XGS,
SEW AK0H Hiperface® ROTATIONAL MXA1), XGH, XGS,
®
5
SEW AK1H Hiperface ROTATIONAL MXA1), XGH, XGS,
SEW AL1H Hiperface® LINEAR MXA1), XGH, XGS,
SEW AS0H Hiperface ®
ROTATIONAL MXA1), XGH, XGS,
6
SEW AS1H Hiperface® ROTATIONAL MXA1), XGH, XGS,
SEW AS1H AV1H Hiperface ®
ROTATIONAL MXA1), XGH, XGS, 7
SEW AS4H Hiperface ®
ROTATIONAL MXA1), XGH, XGS, 8
SEW AS7W Hiperface® ROTATIONAL MXA1), XGH, XGS, 9
SEW AV1H Hiperface® ROTATIONAL MXA1), XGH, XGS,
SEW AV6H Hiperface® ROTATIONAL MXA1), XGH, XGS, 10
SEW AV7W Hiperface® ROTATIONAL MXA1), XGH, XGS,
SEW EF1H Hiperface® ROTATIONAL MXA1), XGH, XGS,
11
SEW EK0H Hiperface® ROTATIONAL MXA1), XGH, XGS,
SEW EK1H Hiperface® ROTATIONAL MXA1), XGH, XGS,
12
SEW ES0H Hiperface® ROTATIONAL MXA1), XGH, XGS,
SEW ES1H ES2H EV1H Hiperface® ROTATIONAL MXA1), XGH, XGS,
13
SEW ES3H Hiperface® ROTATIONAL MXA1), XGH, XGS, 14
® 1)
SEW ES4H Hiperface ROTATIONAL MXA , XGH, XGS,
SEW ES7H Hiperface® ROTATIONAL MXA1), XGH, XGS, 15
® 1)
SEW EV1H Hiperface ROTATIONAL MXA , XGH, XGS,
SEW RH1L Resolver ROTATIONAL MXA1), 16
SEW RH1M Resolver ROTATIONAL MXA1),
SEW EG7S SIN/COS ROTATIONAL MXA1), XGH, XGS, 17
SEW EH1S SIN/COS ROTATIONAL MXA1), XGH, XGS,
SEW EH1S ES1S ES2S EV1S EV2S SIN/COS ROTATIONAL MXA1), XGH, XGS,
18
SEW EH7S SIN/COS ROTATIONAL MXA1), XGH, XGS,
SEW ES1S SIN/COS ROTATIONAL MXA1), XGH, XGS,
19
SEW EV1S SIN/COS ROTATIONAL MXA1), XGH, XGS,
20
SEW EV2S SIN/COS ROTATIONAL MXA1), XGH, XGS,
SEW EV7S SIN/COS ROTATIONAL MXA1), XGH, XGS, 21
SEW EG7C TTL ROTATIONAL MXA1), XGH, XGS,
SEW EG7R TTL ROTATIONAL MXA1), XGH, XGS, 22
SEW EG7T TTL ROTATIONAL MXA1), XGH, XGS,
SEW EH1C TTL ROTATIONAL MXA1), XGH, XGS,
Table continued on next page. Footnote at the end of the table.

7 Suitable encoder systems
Manufacturer Designation Interface Comment Units

SEW EH1R TTL ROTATIONAL MXA1), XGH, XGS,
SEW EH1R EH1T ESxR ESxT EVxR EVxT TTL ROTATIONAL MXA1), XGH, XGS,
SEW EH1T TTL ROTATIONAL MXA1), XGH, XGS,
SEW EH7C TTL ROTATIONAL MXA1), XGH, XGS,
SEW EH7R TTL ROTATIONAL MXA1), XGH, XGS,
SEW EH7T TTL ROTATIONAL MXA1), XGH, XGS,
SEW ES1R TTL ROTATIONAL MXA1), XGH, XGS,
SEW ES1T TTL ROTATIONAL MXA1), XGH, XGS,
SEW ES2T TTL ROTATIONAL MXA1), XGH, XGS,
SEW ES7C TTL ROTATIONAL MXA1), XGH, XGS,
SEW EV1R TTL ROTATIONAL MXA1), XGH, XGS,
SEW EV1T TTL ROTATIONAL MXA1), XGH, XGS,
SEW EV2T TTL ROTATIONAL MXA1), XGH, XGS,
Balluff BTL5-S112-Mxxxx-P-xxx SSI LINEAR XGS,
Balluff BTL5-S112B-Mxxxx-P-xxx SSI LINEAR XGS,
Dimetix FLS-C 10 SSI LINEAR XGS
Elgo LIMAX2 SSI LINEAR XGS,
Heidenhain ECN113 EnDat2.1 ROTATIONAL XGS,
Heidenhain ECN1313 EnDat2.1 ROTATIONAL XGH, XGS,
Heidenhain EQN1125 EnDat2.1 ROTATIONAL XGH, XGS,
Heidenhain ROQ424 SSI combo ROTATIONAL XGS,
Hübner HMG161 S24 H2048 SSI ROTATIONAL XGS,
Hübner AMG73 S24 S2048 SSI combo ROTATIONAL XGS,
Hübner AMG83 S24 S2048 SSI combo ROTATIONAL XGS,
IVO GM 401 SSI ROTATIONAL XGS,
Kuebler Kueb 9081xxxx2003 SSI ROTATIONAL XGS,
Kuebler Kueb 9081xxxx2004 SSI ROTATIONAL XGS,
Leuze AMS 200/xxx-11-x SSI LINEAR XGS,
Leuze BPS 37 SSI LINEAR XGS,
Leuze OMS1 0.1 mm SSI LINEAR XGS,
Leuze OMS1 1 mm SSI LINEAR XGS,
Leuze OMS2 0,1mm SSI LINEAR XGS,
MTS Sensors RD4 0,005 mm SSI LINEAR XGS,
Table continued on next page. Footnote at the end of the table.

Suitable encoder systems
7
Manufacturer Designation Interface Comment Units 1

MTS Sensors RF 0,005 mm SSI LINEAR XGS,
MTS Sensors RH 0,005 mm SSI LINEAR XGS, 2
MTS Sensors RP 0,005 mm SSI LINEAR XGS,
Pepperl+Fuchs WCS3B LS410 CANopen LINEAR 3
Pepperl+Fuchs VDM100-150 0.1 mm SSI LINEAR XGS,
Pepperl+Fuchs VDM100-150 1 mm SSI LINEAR XGS,
4
Pepperl+Fuchs WCS2(A)-LS311 SSI LINEAR XGS,
Pepperl+Fuchs WCS3(A)-LS311 SSI LINEAR XGS,
5
Pepperl+Fuchs WCS3B-LS311 SSI LINEAR XGS,
Pepperl+Fuchs AVM58X-1212 SSI combo ROTATIONAL XGS,
Sick DME4000-x19 0.1 mm CANopen LINEAR
6
Sick DME4000-x19 1 mm CANopen LINEAR
Sick DME4000-x17 Hiperface® LINEAR MXA1), XGH, XGS, 7
Sick DME5000-x17 Hiperface® LINEAR MXA1), XGH, XGS,
Sick DME3000-x11 SSI LINEAR XGS, 8
Sick DME4000-x11 0,1mm SSI LINEAR XGS,
Sick DME4000-x11 1 mm SSI LINEAR XGS, 9
Sick DME5000-x11 0,1mm SSI LINEAR XGS,
Sick DME5000-x11 1 mm SSI LINEAR XGS, 10
®
Sick/Stegmann LinCoder L 230 Hiperface LINEAR MXA1), XGH, XGS,
Sick/Stegmann SKM 36 Hiperface® ROTATIONAL MXA1), XGH, XGS,
11
Sick/Stegmann SKS 36 Hiperface® ROTATIONAL MXA1), XGH, XGS,
Sick/Stegmann SRM 50 Hiperface® ROTATIONAL MXA1), XGH, XGS,
12
Sick/Stegmann SRS 50 Hiperface® ROTATIONAL MXA1), XGH, XGS,
13
Sick/Stegmann SRS 60 Hiperface® ROTATIONAL MXA1), XGH, XGS,
Sick/Stegmann SRS 64 Hiperface® ROTATIONAL MXA1), XGH, XGS, 14
Stegmann AG 100 MSSI SSI ROTATIONAL XGS,
Stegmann AG 626 SSI ROTATIONAL XGS, 15
Stegmann ARS60 SSI ROTATIONAL XGS,
Stegmann ATM60 SSI ROTATIONAL XGS, 16
Stegmann ATM90 SSI ROTATIONAL XGS,
Stegmann POMUX KH53 SSI LINEAR XGS, 17
TR Electronic CE 58M CANopen ROTATIONAL
TR Electronic LE200 CANopen LINEAR
18
TR Electronic CE 58M SSI ROTATIONAL XGS,
TR Electronic CE 65M SSI ROTATIONAL XGS,
19
TR Electronic LA41K SSI LINEAR XGS,
TR Electronic LE100 0.1 mm SSI LINEAR XGS,
TR Electronic LE100 1 mm SSI LINEAR XGS,
20
TR Electronic LE200 0.1 mm SSI LINEAR XGS,
Visolux EDM SSI LINEAR XGS, 21
1) Input of MXA axis module (basic unit)
22

7 Gear units from SEW-EURODRIVE
7.2 Gear units from SEW-EURODRIVE

All gear units from SEW-EURODRIVE can be mounted directly to the synchronous and
asynchronous SEW servomotors.
7.2.1 Axially parallel gear units

Gear unit type RX.. R.. F.. PS.C.. PS.F..
Technical data
Peak torque Mapk Nm 54-1150 46-4360 130-8860 37-427 26-4200
Max. continuous torque Mamax Nm 36-830 31-4300 87-7840 29-347 20-3000
Max. input speed nepk rpm Up to 4500 Up to 4500 Up to 4500 Up to 7000 Up to 8000
Peak overhung load Frapk N 3970-30000 1220-32100 4500-65000 2000-11000 1900-83000
Gear ratio range i 1.3-8.23 3.21-216.28 3.77-276.77 3-100 3-100
Option with red. backlash /R x x x - x
Option with min. backlash /M - - - - x
Mechanical data
Hollow shaft - - x - -
Flange mounting x x x x x
Foot mounting x x - - -
Flange block - - - - x
B5 flange x x x x x
B14 flange - x x x -
7.2.2 Right-angle gear units
Gear unit type K.. S.. W.7 BS.F..
Technical data
Peak torque Mapk Nm 77-9090 60-655 91-270 51-1910
Max. continuous torque Mamax Nm 70-8000 43-480 70-180 40-1500
Max. input speed nepk rpm 4500 4500 4500 4500
Peak overhung load Frapk N 4480-65000 300-12000 2950-7600 2380-36000
Gear ratio range i 3.19-176.05 6.8-75.06 3.2- 74.98 3-40
Option with reduced back- /R x x - x
lash
Option with minimized back- /M - - - -
lash
Mechanical data
Hollow shaft x x x x
Flange-mounted x x x x
Foot-mounted x x x x
Flange block - - - x

MOVI-PLC®, MOVI-PLC® I/O
7
Gear unit type K.. S.. W.7 BS.F.. 1
B5 flange x x x x 2
B14 flange x x - -
7.3 MOVI-PLC®, MOVI-PLC® I/O 4

MOVI-PLC® is a series of controllers available from SEW-EURODRIVE. MOVI-PLC®
can be programmed by users according to IEC 61131-3 and PLCopen. 5
7.3.1 Freely programmable motion and logic controller (MOVI-PLC®)

6
The controller can be operated as freely programmable motion and logic controller
MOVI-PLC® when using SD cards of the type OMH41B. MOVI-PLC® is a series of pro- 7
grammable motion and logic controllers. It allows drive solutions, logic processes and
sequence controls to be automated simply and efficiently using IEC 61131-3 compliant 8
programming languages.
• MOVI-PLC® is a universal solution because it is able to control the entire portfolio 9
of SEW inverters and offers a simple upgrade to a more powerful MOVI-PLC® ver-
sion thanks to the universal execution of the programs.
10
• MOVI-PLC® is scalable due to several different hardware platforms (advanced, etc.)
and modular software concepts (libraries for numerous applications).
11
• MOVI-PLC® is powerful due to extensive technologies (such as electronic cam, syn-
chronous operation) and the control of demanding applications (such as material
handling). 12
MOVI-PLC® • The DH.41B controller is characterized by a greater variety of interfaces and a higher 13
advanced perfor- performance level, which allows complex calculations and interpolated movements,
mance class for example. The DH.41B option is therefore suitable for the automation of cells and
machines. The integrated Ethernet interface enables direct connection of the
14
DH.41B controller to the control level.
15
16
17
18
19
20
21
22

7 MOVI-PLC®, MOVI-PLC® I/O
7.3.2 Configurable application controller (CCU)

The controller can be used as configurable application controller (CCU) by using SD
cards of the type OMC41B. Only standardized application modules created by
SEW-EURODRIVE can be executed. The application modules can be started up quickly
and conveniently by graphical configuration. A defined process data interface provides
this functionality to a higher-level controller. A process data monitor with control mode
is available to support the startup procedure.
CCU advanced The "CCU advanced" performance class is intended for application modules with single-
performance class axis and multi-axis functionality and fast response times. The following application mod-
ules are available:
• Single-axis functionality:
– Velocity control
– Cam positioning
– Bus positioning with 6 process data words
– Single-axis universal module
• Multi-axis functionality:
– SyncCrane
– Energy-efficient storage/retrieval system:

Appendix
Additional documentation from SEW-EURODRIVE
8
8 Appendix 1
8.1 Additional documentation from SEW-EURODRIVE
2
For detailed information about MOVIAXIS®, refer to the following documentation:
• "MOVIAXIS® Multi-Axis Servo Inverter" operating instructions 3
• "Supply and Regenerative Module" manual
• "MOVIAXIS® Technology Functions" manual 4
• "Functional Safety" manual
• "Technology Editor for Single-Axis Positioning" manual 5
6
For additional information, refer to the following documentation:
• "Synchronous Servomotors" catalog 7
• "Synchronous Servo Gearmotors" catalog
• "Asynchronous Servo Gearmotors" catalog 8
• "AC Motors" catalog
• "AC Motors" manual: DRL motor-inverter assignments, dynamic and thermal limit 9
characteristic curves of the DRL motors
• "DOP11B Operator Terminals" system manual 10
• "MOVI-PLC® advanced DH.41B Controller" manual
11
• "MOVI-PLC® I/O System" manual
12
For the complete range of available documentation, go to our website at www.sew-
eurodrive.com.
13
14
8.2 Disposal of MOVIAXIS® units
Please dispose of MOVIAXIS® units in line with applicable regulations. 15
16
17
18
19
20
21
22

kVA n Parameter description
9 f
Parameter description for display values
i
P Hz
9 Parameter description
The index contains a list with parameters sorted in ascending index order with refer-
ences to the pages with the relevant parameter description.
Default values are underlined.
9.1 Parameter description for display values

9.1.1 Process values of active drive
10120.1 Velocity Unit: User unit (default: rpm)
Resolution: 10-3
Value range: -2147483648 – 0 – 2147483647, step 1
Current actual velocity in user units.
9704.1 Position Unit: User unit (default: rev)

Resolution: 1/65536
Value range: -2147483648 – 0 – 2147483647, step 1
Current actual position in user units.
9839.1 Modulo Unit: User unit (default: rev)

position Resolution: 1/65536
Value range: -2147483648 – 0 – 2147483647, step 1
Current actual modulo position in user units with the set modulo limits:
• Parameter 9594.10 Modulo overflow (page 281),
• Parameter 9594.1 Modulo underflow (page 282).
9985.1 Torque Unit: User unit (default: % nominal motor torque)

Resolution: 10-3
Value range: -2147483648 – 0 – 2147483647, step 1
Present torque in user units.
9980.1 Speed Unit: rpm

Resolution: 10-3
Value range: -2147483648 – 0 – 2147483647, step 1
Current actual speed (system unit).
10068.1 Position Unit: Increments

Resolution: 1/65536
Value range: -2147483648 – 0 – 2147483647, step 1
Current actual position in increments (system unit).

Parameter description kVA n
f 9
i
P Hz
9784.1 Torque Unit: % nominal motor torque 1

-3
Resolution: 10
Value range: -2147483648 – 0 – 2147483647, step 1 2
Current motor torque (system unit).
3
9951.1 Effective Unit: %
minimum torque
Resolution: 10-3
4
Value range: -2147483648 – 0 – 2147483647, step 1
5
Effective minimum torque (system unit).
This parameter indicates the currently effective negative torque limit. This limit can be 6
• the system limit,
• the application limit, 7
• the current limit,
• one of the FCB limits, 8
• or a thermal limit of the axis module (I×t model)
9
depending on which limit would apply first.
10
9951.2 Effective Unit: %
maximum torque Resolution: 10-3
11
Value range: -2147483648 – 0 – 2147483647, step 1
Effective maximum torque (system unit). 12
This parameter indicates the currently effective positive torque limit. This limit can be
• the system limit, 13
• the application limit,
• the current limit,
14
• one of the FCB limits,
15
• or a thermal limit of the axis module (I×t model)
depending on which limit would apply first. 16
9872.255 KTY Unit: °C

17
temperature motor
Resolution: 10-3
KTY motor temperature of the current parameter set. 18
This is the temperature of the sensor, which may deviate from the motor temperature
depending on the dynamics. 19
Remedy: Motor utilization with calculated motor model.
The KTY sensor has a tolerance of ± 5%. 20
21
22

9 f
i
P Hz
9874.255 Motor Unit: %

utilization, maxi-
Resolution: 10-3
mum KTY model
Motor utilization of the current parameter set.
The motor utilization uses a motor model to calculate the temperature transition of the
motor to the KTY sensor. The injected current is also taken into account. The display is
output in % and starts at a motor model temperature of 40 °C = 0% and a shutdown
temperature = 100%.
9.1.2 Process values of output stage

MOVIAXIS® monitors various internal values to prevent overloading in the axis module.
These values include
• Chip rise,
• Chip temperature
• Heat sink temperature,
• Load on electromechanics.
Customers benefit from the predictable behavior of MOVIAXIS®, which for example,
prevents unwanted or unexpected machine failure and ensures reproducible behavior.
9793.1 Output fre- Unit: Hz

quency
Resolution: 10-3
Displays the current output frequency to the motor in Hz.
9786.1 Output cur- Unit: % nominal axis current

rent Resolution: 10-3
Displays the present output current in % of the nominal axis current.
9787.1 Torque cur- Unit: % nominal axis current

rent
Resolution: 10-3
Displays the torque-generating Q current in % of the nominal axis current.
9788.1 Magnetiza- Unit: % nominal axis current

tion current Resolution: 10-3
Displays the magnetization-generating D current in % of the nominal axis current.

f 9
i
P Hz
8326.0 Output cur- Unit: A 1

rent -3
Resolution: 10
Displays the current output current in A (output current). 2
9853.1 Torque cur- Unit: A 3

rent
Resolution: 10-3
Displays the torque-generating Q current in A.
4
9855.1 Magnetiza- Unit: A 5

tion current
Resolution: 10-3
6
Displays the magnetization-generating D current in A.
8325.0 DC link Unit: V

7
voltage
Resolution: 10-3
8
Displays the actual DC link voltage in V.
9
9706.1 Output volt- Unit: V
age
Resolution: 10-3
10
Displays the present output voltage in V.
11
9791.1 Torque Unit: V
voltage
Resolution: 10-3 12
Displays the torque-generating Q voltage in V.
13
9792.1 Magnetiza- Unit: V
tion voltage Resolution: 10-3 14
Displays the magnetization-generating D voltage in V.
15
9859.1 Thermal Unit: % nominal axis current
current limit Resolution: 10-3 16
Displays the current thermal current limit in % of the nominal axis current.
The axis has a brief overload capacity up to this maximum limit (maximum operating 17
point). The thermal current limit is dynamically adjusted according to the utilization of the
axis. It starts at 250% and becomes smaller depending on the utilization. 18
19
20
21
22

9 f
i
P Hz
9811.5 Total utiliza- Unit: %

tion
Resolution: 10-3
Total utilization of the axis in percent.
The highest value of the 4 utilization calculations
• Chip rise,
• Chip absolute,
• Heat sink,
• and electromechanics
is displayed.
The axis is deactivated at 100%.
The parameter is filtered for display because utilization can change very dynamically in
particular for the chip.
9811.1 Dynamic Unit: %

utilization chip rise
Resolution: 10-3
Dynamic utilization of the chip rise in percent (I×t utilization).
The parameter is unfiltered.
9811.2 Dynamic Unit: %

utilization chip
Resolution: 10-3
absolute
Absolute dynamic utilization of the chip in percent (I×t utilization).
9811.4 Heat sink Unit: %

utilization
Resolution: 10-3
Heat sink utilization in percent (I×t utilization).
9795.1 Heat sink Unit: °C

temperature
Resolution: 10-3
Temperature of the heat sink in °C.

f 9
i
P Hz
9811.3 Electrome- Unit: % 1

chanical utilization -3
Resolution: 10
Electromechanical utilization in percent (I×t utilization). 2
3
8328.0 Power-on Unit: h
hours
Resolution: 10-2
4
The power-on hours are recorded every minute as long as the 24 V control voltage is
present and are then stored in a non-volatile memory. The quantification in minutes 5
means that a maximum of one minute of power-on hours can be lost in case the unit is
switched off or rebooted as error acknowledgement. 6
The value is displayed in hours with 2 decimal places. The power-on hours are reset
using parameter 8596.0 Reset statistic data or 9727.3 Delivery state. 7
When an axis fault occurs, the power-on hours are written to the fault memory (see fault
memory parameter) to better diagnose the time at which the fault occurred. 8
For more thorough SEW internal diagnostics, there is an additional power-on hours
counter that cannot be reset. 9
8329.0 Enable Unit: h
hours
10
Resolution: 10-2
In contrast to the power-on hours, the enable hours are counted only when the output 11
stage is active. This is based on the status parameter 9702.1 Bit 0 output stage enabled.
The enable hours are recorded every minute and are stored in a non-volatile memory. 12
The quantification in minutes means that a maximum of one minute of enable hours can
be lost in case the unit is switched off or rebooted as fault acknowledgement.
13
The value is displayed in hours with 2 decimal places. The enable hours are reset using
parameter 8596.0 Reset statistics data or 9727.3 Delivery state.
14
When an axis fault occurs, the enable hours are written to the fault memory (see fault
memory parameter) to better diagnose the time at which the fault occurred.
15
16
17
18
19
20
21
22

9 f
i
P Hz
9.1.3 Device status

9702.2 Axis status Value range:
• 0 = Not ready
• 1 = Ready, output stage inhibited
• 2 = Ready, output stage enabled
Displays axis status.
9702.3 Current Displays the currently active FCB.

FCB
9702.6 Current Displays the currently active FCB instance.

FCB instance
The following FCBs offer more than one instance:
• FCB09 Positioning (64 instances)
• FCB05 Speed control
• FCB Torque control
9702.4 Active Displays current parameter set 1 – 3.

parameter set
9873.1 Active fac- Value range:

tory setting
• 0 = No factory setting (cannot be selected via parameter tree)
• 1 = Basic initialization
• 2 = Delivery state
• 3 = Factory setting
• 4 = Customer set 1
This parameter indicates whether and what type of initialization is currently active.
For a description of the individual initialization options, see chapter "Device func-
tions/setup" (page 398).
9702.1 Status dis- • Bit 0 Output stage enabled

play
"Output stage enabled" is a subset of "Ready for operation" which is set to "1" in all
FCBs except for FCB 01 Output stage inhibit.
• Bit 1 Ready
0 signal: The axis is currently not ready for operation. Reasons can be error states
or operating states outside FCB processing (supply voltage off, power supply module
not ready). All errors are "locked" in the final state.
Signal 1: The axis is in FCB processing. If no FCB is selected, the default FCB 13
Stop at application limits will become active. The 7-segment display will show the
number "13". The "ready" signal alone does not indicate that the axis module is in a
fault-free state. The signals refers to the module itself. Example: When a drive is lo-
cated at the limit switch, the axis module signals "ready" although a fault is present.

f 9
i
P Hz
All faults are "locked" in the final state. Also refer to the operating instructions 1
"MOVIAXIS® MX Multi-Axis Servo Inverters", chapter "Operating Displays and
Faults".
2
• Bit 2 Setpoints active
This signal is active in all setpoint processing FCBs when setpoints are being pro- 3
cessed. These are FCB 05 – FCB 10. The signal is set to "0" in all stop FCBs as well
as the default FCB.
4
The signal is still 0 during the brake release time.
• Bit 5 Fault response display only 5
This signal is a subset of "Fault" and displays fault responses that are configured to
"Display fault". The drive continues to operate normally.
6
• Bit 6 Fault response unequal to output stage inhibit
This signal is a subset of "Fault" and indicates that the drive can be decelerated using 7
a ramp (motor does not coast to a stop / mechanical brake applied). This bit is also
set when "displayed fault signal".
8
• Bit 7 Fault response output stage inhibit
This signal is a subset of "Fault" and indicates that the motor coasts to a stop or, if 9
installed, the mechanical brake is applied.
• Bit 8 24 V standby mode 10
Is set when the power supply is removed.
The threshold for this is a parameterizable DC link voltage. See parameter 9617.7 11
DC link voltage - ON level default and subsequent pages.
• Bit 9 power supply module not ready for operation 12
Is signaled if the power supply module does not send a ready signal, e.g. due to
brake resistor overload or supply system undervoltage. 13
• Bit 10 Axis module not ready for operation
This parameter is a subset of "Bit 1 Ready" and refers only to the axis module. 14
• Bit 11 STO Safe Torque Off 1
Indicates whether a safety relay 1 has detected a safe stop. Only active in conjunc-
15
tion with optional safety relays (device type MXA81A - or MXA82A -..).
• Bit 12 STO Safe Torque Off 2 16
Indicates whether a safety relay 2 has detected a safe stop. Only active in conjunc-
tion with two optional safety relays (MXA82A -..). 17
• Bit 13 Process data not ready "C3"
18
Is generated if one of the 16 "In buffers" is set to communication and the correspond-
ing PDO has never been received. This signal is no longer generated when the PDO
was received once. Instead, a timeout error is generated when the communication is 19
disconnected.
20
21
22

9 f
i
P Hz
• Bit 19 Encoder not ready for operation

Indicates whether the encoder communicates. No communication means the en-
coder is defective, the wiring is not correct, or the motor has not been started up.
• Bit 20 Parameter download active
Indicates whether parameters are currently being downloaded.
• Bit 22 Synchronization missing
If a synchronization source has been set in parameter 9836.1 Synchronization
source, then this bit indicates that the synchronization signal has not yet been re-
ceived after a reboot.
• Bit 30 Power on
Indicates whether the supply voltage is present at the power supply module.
• Line voltage present = TRUE
• Line voltage not present = FALSE
You can parameterize how fast a power failure is detected. See parameter 9746.1
Power off response.
• Bit 31 Line voltage off
Indicates whether the supply voltage is present at the power supply module.
• Line voltage present = FALSE
• Line voltage not present = TRUE
You can parameterize how fast a power failure is detected. See parameter 9746.1
Power off response.
9950.1 Final fault Displays the currently pending fault status:

status
• Bit 0 Displaying
The axis only displays the fault in the 7-segment display. The axis continues to run
in normal operation.
• Bit 1 Waiting
The axis waits for a manual reset. The fault is reset and operation is continued with-
out boot reset of the firmware.
• Bit 2 Locked
The axis waits for a manual reset. The axis then reboots (like when it is switched on).
9702.5 Fault code Displays the pending fault code. See also list of faults in the MOVIAXIS® operating in-
structions.
10071.1 Sub fault Displays the pending sub fault code. See also list of faults in the MOVIAXIS® operating
code instructions.
8617.0 Manual Value range:

reset
• 0 = No
• 1 = Yes
Manual reset to reset the fault.

f 9
i
P Hz
9.1.4 Device data 1

9701.1 – 5 Axis Displays the order designation of the device, e.g. MXA-80A-004-503-00.
type 2
9701.10 Device Displays the device family, e.g. MOVIAXIS®. 3

family
9701.11 Device Displays the device variant.

4
variant
5
9701.13 Nominal Unit: mV
unit current 6
Value range: 0 – 2000000, step 1
Displays the nominal unit voltage.
7
9701.14 Number of Value range:
input phases
• 1 = Single-phase 8
• 3 = Three phase
9
Displays the number of input phases.
10
9701.15 Radio Value range:
interference sup- • 1 = None
pression on line 11
side • 2 = A
• 3 = B 12
Displays the implemented radio interference suppression compliant with the EMC prod-
uct standard EN 61800-3. 13
9617.1 Maximum Unit: 10 -3/min

14
possible output
speed
Maximum possible output speed that the axis module can control. 15
9617.6 Rated unit Unit: mA 16

current
Value range: 0 – 30000 – 1000000, step 1
Nominal unit current, r.m.s. value. 17
9617.2 Maximum Unit: mA 18

output current Value range: 0 – 12000 – 1000000, step 1
Maximum possible output current, r.m.s. value. 19
9701.17 Standard Value range: 20

encoder system • 13 = Hiperface®/resolver
Displays the SEW standard encoder for the device. 21
9701.18 Device Value range: 0 – 4294967295, step 1 22

serial number
Displays the serial number.

9 f
i
P Hz
9823.1 – 5 Device Display and entry of the device signature. You can assign a name to the device to have
signature it displayed in the hardware tree and in the visualization components.
9701.30 Firmware Displays the firmware part number of the basic unit.
part number basic
unit
9701.31 Firmware Displays the firmware status of the basic unit.

status basic unit
9701.32 Firmware Displays the firmware version number of the basic unit.
version number
basic unit
9880.3 Initial boot Value range: 0 – 4294967295, step 1

loader part number
Initial boot loader part number.
9880.5 Initial boot Value range: 0 – 4294967295, step 1

loader status
Initial boot loader status.
9881.3 Boot loader Value range: 0 – 4294967295, step 1

part number
Boot loader part number.
9881.5 Boot loader Value range: 0 – 4294967295, step 1

status
Boot loader status.
9701.33 DSP firm- Value range: 0 – 4294967295, step 1

ware part number
DSP firmware part number.

ware status
DSP firmware status.

ware version num-
DSP firmware version number.
ber
9701.37 FPGA sta- Value range: 0 – 4294967295, step 1

tus
FPGA firmware status.

f 9
i
P Hz
9701.38 FPGA sta- Value range: 0 – 4294967295, step 1 1

tus
FPGA firmware status.
2
9701.41 Signal Value range: 0 – 4294967295, step 1
electronics 3
Hardware status (computer card).
9701.50 Option in Value range: 4

slot 1
• 0 = No option
• 1 = Unknown option 5
• 2 = XIO11A (digital I/O)
6
• 3 = XIA11A (analog-digital I/O)
• 4 = XHE41A (plug-in control)
7
• 5 = XHC41A (plug-in control)
• 6 = XHA41A (plug-in control) 8
• 7 = XGS11A (multi-encoder card)
• 8 = XGH11A (multi-encoder card) 9
• 9 = XFE24A (EtherCAT card)
10
• 13 = XFA11A (K-Net)
9701.60 Option in Value range: 11

slot 2
See parameter 9701.50 Option in slot 1. (page 243)
12
9701.70 Option in Value range:
slot 3 13
See parameter 9701.50 Option in slot 1 (page 243).
9701.53 Option in Displays firmware part number of option 1. 14

slot 1, firmware
part number 15
9701.63 Option in Displays firmware part number of option 2. 16

slot 2, firmware
part number
17
9701.73 Option in Displays firmware part number of option 3.
slot 3, firmware 18
part number
19
9701.54 Option in Displays firmware status of option 1.
slot 1, firmware
status 20
21
22

9 f
i
P Hz

slot 2, firmware
status

slot 3, firmware
status
9.1.5 Unit nameplate

The electronic motor nameplate with the corresponding motor data is supported.
9701.110 Status 1 Delivery state unit status field 1: Unit firmware.
9701.111 Status 2 Delivery state unit status field 2: FPGA/DSP firmware.
9701.113 Status 4 Delivery state unit status field 4: Control electronics.
9701.114 Status 5 Delivery state unit status field 5: Power section.
9701.115 Status 6 Delivery state unit status field 6: Switched-mode power supply.
9701.116 Status 7 Delivery state unit status field 7: Attenuation.
9701.117 Status 8 Delivery state unit status field 8: Safe technology.
9701.118 Status 9 Delivery state unit status field 9: Reserve.
9701.125 Option 1 Delivery state option 1: Status field 1 software.

software status
9701.126 Option 1 Delivery state option 1: Status field 2 hardware.

hardware status

software status

hardware status

software status

hardware status

software status

f 9
i
P Hz
9701.156 Option 4 Delivery state option 4: Status field 2 hardware. 1

hardware status
2
software status
3
hardware status 4
9.1.6 Fault history 0 – 5 5

MOVIAXIS® stores the last 6 fault states in a ring memory. A certain number of param-
eters is "frozen". Parameter 9626.1 Pointer to fault memory t0 – t5 (page 245) points to 6
the last fault saved. Another index range is described each time a fault is saved.
The parameter tree adapts the interface so that fault ring memory 0 – 5 is always sorted 7
chronologically. Fault ring memory 0 is the last one saved.
Fault memory t5 is described below. 8
9626.1 Fault mem- Value range: 0 – 5, step 1 9

ory pointer
Pointer to fault memory t0 – t5.
10
9628.1 Inputs Value range: 0 – 4294967295, step 1
Displays digital inputs of basic unit t5. 11
9630.1 Outputs Value range: 0 – 4294967295, step 1 12

Displays digital outputs of basic unit t5.
13
Displays digital inputs of option 1 t5. 14

Displays digital outputs of option 1 t5.
16
Displays digital inputs of option 2 t5. 17

Displays digital outputs of option 2 t5.
19
9508.1 Resolution Value range: 0 – 4294967295, step 1
User unit position resolution t5. 20
9509.10 Denomi- Value range: 0 – 4294967295, step 1 21

nator
User unit position denominator t5.
22

9 f
i
P Hz
9509.1 Numerator Value range: 0 – 4294967295, step 1

User unit position numerator t5.
9507.50 Position Value range: 0 – 4294967295, step 1

User unit position t5.
9502.1 Resolution Value range: 0 – 4294967295, step 1

User unit speed resolution t5.
9503.10 Denomi- Value range: 0 – 4294967295, step 1

nator
User unit speed denominator t5.
9503.1 Numerator Value range: 0 – 4294967295, step 1

User unit speed numerator t5.
9501.50 Velocity Value range: 0 – 4294967295, step 1

User unit velocity characters 0 – 3 t5.



9812.1 Rel. Unit: %

Resolution: 10-3
Dynamic utilization relative t5.
9623.1 Abs. Unit: %

Resolution: 10-3
Dynamic utilization absolute t5.
10069.1 Model Unit: %

Resolution: 10-3
Motor utilization current motor model t5.

f 9
i
P Hz
9538.1 KTY Unit: % 1

-3
Resolution: 10
Value range: 0 – 300000, step 1 2
Motor utilization current motor KTY t5.
3
9622.1 Heat Unit: %
exchanger
Resolution: 10-3
4
5
Heat exchanger utilization t5.
6
9624.1 Thermal Unit: %
Resolution: 10-3
7
Thermal utilization t5. 8
9635.1 Device Unit: % 9

-3
Resolution: 10
Unit utilization t5.
11
9627.1 Fault Value range: 0 – 99, step 1
Display fault code t5. 12
10072.1 Sub fault Value range: 0 – 32767, step 1 13

Sub fault code t5.
14
9636.1 DC link Unit: mV
voltage 15
DC link voltage t5.
16
9505.1 Output volt- Unit: mV
age Value range: 0 – 1000000, step 1 17
Output voltage t5.
18
9500.6 Actual Unit: 10-3/min
speed 19
Value range: -11000000 – 11000000, step 1
Displays actual velocity current parameter set in t5.
20
10070.1 Model Unit: °C
21
Resolution: 10-3
Value range: -2147483648 – 0 – 2147483647, step 1 22
Motor temperature current motor model t5.

9 f
i
P Hz
9545.1 KTY Unit: °C

Resolution: 10-3
Value range: -2147483648 – 0 – 2147483647, step 1
Motor temperature current motor KTY t5.
9505.30 Power-on Unit: h

hours
Resolution: 10-2
The ON hours are recorded every minute as long as the 24 V control voltage is present
and then stored in a non-volatile memory. The quantification in minutes means that a
maximum of one minute of ON hours can be lost in case the unit is switched off or re-
booted as fault acknowledgement.
The value is displayed in hours with 2 decimal places. The ON hours are reset using pa-
rameter 8596.0 Reset statistics data or 9727.3 Delivery state.
When an axis fault occurs, the ON hours are written to the fault memory (see fault mem-
ory parameter) to better diagnose the time at which the fault occurred.
For more thorough SEW internal diagnostics, there is an additional ON hours counter
that cannot be reset.
9505.40 Enable Unit: h

hours
Resolution: 10-2
In contrast to the ON hours, the enable hours are counted only when the output stage
is active. This is based on the status parameter 9702.1 Bit 0 output stage enabled.
The enable hours are recorded every minute and are stored in a non-volatile memory.
The quantification in minutes means that a maximum of one minute of enable hours can
be lost in case the unit is switched off or rebooted as fault acknowledgement.
The value is displayed in hours with 2 decimal places. The enable hours are reset using
parameter 8596.0 Reset statistics data or 9727.3 Delivery state.
When an axis fault occurs, the enable hours are written to the fault memory (see fault
memory parameter) to better diagnose the time at which the fault occurred.
9632.1 Device sta- Value range: 0 – 4294967295, step 1

tus
Displays device status t5.
9506.6 Actual posi- Unit: U

tion Resolution: 1/65536
Value range: -2147483648 – 0 – 2147483647, step 1
Actual position t5.

f 9
i
P Hz
9633.1 Output cur- Unit: % nominal axis current 1

rent -3
Resolution: 10
Output current t5.
3
9852.1 Phase fail- Value range: see index 8617.0 (page 407).
ure detection
Line phase failure t5.
4
9504.1 Frequency Unit: Hz 5

Resolution: 10-3
6
Frequency t5.
7
9634.1 Active cur- Unit: % nominal axis current
rent 8
Resolution: 10-3
Active current t5.
10
11
12
13
14
15
16
17
18
19
20
21
22

9 f
Parameter description of drive data
i
P Hz
9.2 Parameter description of drive data
INFORMATION
Sections and chapters that contain "P1 / P2 / P3" apply to all 3 parameter sets.
MOVIAXIS® operates with the CFC control mode for asynchronous and synchronous
motors with encoder feedback. MOVIAXIS® can be operated in the basic control types
torque, speed and position control. This means that the customer can activate closed-
loop control circuits where they are most suitable for the application. MOVIAXIS® can
be implemented in a wide range of applications and, in many cases, can take on all the
tasks of a motion controller.
9.2.1 Controller parameters P1 / P2 / P3

8537.0 / 8538.0 / Value range:
9720.0 Direction of
• 0 = Off
rotation reversal
• 1 = On
Direction of rotation reversal P1.
t Direction of rotation reversal

8537.0(P1)/
8538.0(P2)/9720.3(P3)
P-gain;
P-gain;
Kxn ; 9843.1[1/s]
Kpn ; 9797.1[1/s]
U
+
x + + V
+
PWM off
M
- -
Time constant Integrator; W
Tin; 9799.1[ms]
on
Counting direction encoder 1 A

9719.1 off Motor
Speed off encoder 1
calculation B
on
Act. position source Counting direction encoder 2

Actual posistion; 10068.1 [1/65536U]
9744.1/2/3 9719.2 A
Actual position; 9704.1 [customized] off Distance
encoder 2
B
on
Counting direction encoder 3

9719.3 A
off Distance
encoder 3
B
on
4038387851

f 9
i
P Hz
The SEW-EURODRIVE standard defines that the motor rotates in clockwise direction 1
(right) when the speed is positive and with increasing positions when viewed onto the
motor shaft. Reversing the direction of rotation changes the sense of rotation of the
motor without having to reverse the setpoint. Activating direction of rotation reversal will
2
invert the direction of rotation of the motor phases and of encoder evaluation.
3
Direction of rotation motor
Direction of rota- Speed
shaft (looking onto the Position
Actual
Actual acceleration value 4
tion reversal setpoint speed value
drive-end bearing shield)
Derived from the actual
Positive Clockwise, "right" Increases Positive
speed value
5
0 = Off; standard
Negative Counterclockwise, "left" Decreases Negative
speed value 6
Positive Counterclockwise, "left" Increases Positive
speed value
1 = On; inverted
7
Negative Clockwise, "right" Decreases Negative
speed value
The assignment of limit switches to the system is maintained. 8

When using this parameter, it is important to carefully check that the limit switch is con-
nected properly and the reference point and travel positions are defined properly. 9
Direction of rota- Example: Direction of rotation reversal 8537.0 = 0 (OFF) (page 250) 10
tion reversal and When the motor turns in clockwise direction, the drive will be properly stopped once it
limit switch evalua- hits the positive limit switch. When the drive hits the negative limit switch, the drive will
tion 11
respond with fault code "27" (limit switches reversed).
12
Example: Direction of rotation reversal 8537.0 = 1 (ON) (page 250)
When the motor turns in counterclockwise direction, the drive will be properly stopped 13
once it hits the positive limit switch. When the drive reaches the negative limit switch,
the drive will respond with fault code "27" (limit switches reversed).
14
Do not mistake the parameter "Direction of rotation reversal P1; P8537.0 (page 250)"
for the parameter "Counting direction encoder 1; P9719.1 (page 339)", see the "En-
coders" chapter.
15
Current controller 16
9813.1 Activate I×t Value range:
current reduction 17
• 0 = Off
• 1 = On
18
The parameter cannot be edited in the parameter tree.
A current limit is set using the parameter setting "On" to ensure reliable operation of the 19
axes even in the case of an overload.
The switch is only implemented in "Controller inhibit active" status. 20
21
22

9 f
i
P Hz
Function Characteristic Result

Possibility of compensating load peaks
Current is reduced before heat sink or that occur once.
"On" default
power semiconductor triggers shutdown. Might trigger subsequent errors because
setting
Maximum available current < 250%. the required torque is not delivered any
longer (e.g. lag error).
Immediate shutdown in the event of over-
load (results in controller inhibit).
"Off" Maximum available current = 250%
The entire device performance can be
utilized.
9748.1 / 9748.2 / Value range:

9748.3 PWM
• 0 = 4 kHz
frequency
• 1 = 8 kHz
• 2 = 16 kHz
PWM frequency P1/P2/P3.
The PWM frequency is used to set the switching frequency at the inverter output. The
cycle frequency is set to a fixed value and is not automatically reduced with high unit
utilization.
A smaller modulation frequency reduces the switching losses in the output stage and,
consequently, unit utilization. The motor noise, however, will increase.

f 9
i
P Hz
Control structures The FCBs use different control structures. 1

The following table gives an overview of control structures activated by the FCBs.
2
"MXDrehmomentStro
3
profile generation
profile generation
mreglerV1_5.vsd"
4
Position
FCB No.
External
Internal
control
control
control
Torque
Speed
Name
0 No function block selected (starts FCB 13) X 5
1 Controller inhibit Controller inhibited
5 Speed control X Var1+4
6 Speed control, interpolated X Var1+4
6
7 Torque control X Var 4
8 Torque control, interpolated X Var4 7
9 Positioning X Var2+4
10 Positioning, interpolated X Var2+4
12 Referencing Referencing Basic setting 8
13 Stop (application limits) X Var1+4
14 Stop (emergency stop limit) X Var1+4
15 Stop (system limits X Var1+4
9
16 Electronic cam X Var2+4
17 Sychronous operation X Var2+4 10
18 Encoder adjustment Current control
19 Hold control Stop Hold
20 Jog X Var2+4 11
21 Brake test Mode 1 Modes 2-4
22 Double drive X
12
1238111115
The variants "Var 1 - 4" are depicted in the figure "Control structure overview" 13
(page 254).
14
15
16
17
18
19
20
21
22

9 f
i
P Hz
Control structure The control structure is cascaded (position, speed, current-torque controller). The fol-
overview lowing diagram shows an overview of the control structures described in detail on the
following pages.
Motor
encoder
Torque/current control FBC07; FCB08

PWM
Current limit
range limiting
Motor torque;
system limit
application;
Speed
Torque limit
Var4
setpoint
Torque
Position control with internal profile generator FCB 09, 10, 15, 16, 19
Encoder
Encoder
setpoint
Torque setpoint
Torque
Torque control FCB 05, 06, 12, 13, 14 +FCB06
Setpoint acceler.
Setpoint speed
Setpoint speed
Var1
Setp. posit.
Var2
1238830347
See also the control structure table. (page 253)

1238832779
VAR1
Speed control
FCB 05, 06, 12, 13, 14
Sampling frequency; Acceleration precontrol gain; Acceleration precontrol filter;

Ta ;9821.1[1,2,4kHz] Kvn ; 9806.1[%] Tvn ; 9838.1[ms]
dn
Ta
Speed setpoint filter; Acceleration precontrol filter; Actual speed filter;

Tset n; 9841.1[ms] Tvn ; 9838.1[ms] Tistn ; 9842.1[ms] Acceleration
Setpoint speed precontrol
Setpoint speed of FCB06,05 ; + - nsoll ;10200.1 [10-3/min] 10402.2 [0.01 1/min/s]
nset ; 9602.2[10 -3/min] Motor speed max ; Setpoint acceleration
9605.1[10-3/min] Speed difference 10402.3 [0.01 1/min/s]
ndelta ;10099.2 [AE]
System Manual – MOVIAXIS® Multi-Axis Servo Inverter

Speed application limit Speed control value
9716.1;9716.10[AE] P gain 10402.1[0.01 1/min/s] Motor torque setpoint;
Total mass moment of inertia mset ; 9602.4[%10 -3]
Kpn ; 9797.1[1/s] Jtot ; 9817.1[kgm 2*10-7] only updated with
+ - FCB 07 and FCB 09
+ -
Time constant of integrator
Ti n; 9799.1[ms]
Actual speed filtered, 9980.1[10-3/min]

Actual speed filtered,; 10120.1[AE]
Actual speed filter;

Tistn; 9842.1[ms]
Speed control FCB 05 (page 349), 06 (page 352), 12 (page 371), 13, 14
Speed Rotor angle ; 9747.1[1/2 32*U] Position Encoder for actual speed
calculation detection
Encoder for actual position
Actual speed in system units, unfiltered;
9778.1[u/min*10-3] ;n ist
Scopable variables
[AE] User-defined units
Actual position in increments; 10068.1 [1/65536U]
Actual position; 9704.1[customized]
Parameter description
i
kVA
f
P Hz
n
255
9
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
9
256
i
kVA
f
P Hz
n
9007200494273035
System limit acceleration 9573.1 / 9574.1
System limit velocity 9579.1 / 9579.10
Applicat. limit acceleration 9571.1 / 9572.1
Application limit velocity 9716.1 / 9716.10
Scanning frequency;
Ta Ta ;9821.1[1,2,4kHz]
dX dn
Ta Ta VAR2
Position control with internal profile generator
Setpt. position of FCB10 FCB 09, 10, 16, 17, 19
Xset ; 9602.1[1/65536U]
System limit acceleration Beschl. Vorsteuerung Verst.;

9573.1 / 9574.1 Kvn ; 9806.1[%]
Setpt. acceleration of FCB09,16,17

aset ; 9602.3[10 -2/min*s] Actual velocity filter; Acceleration
Velocity precontrol gain; Tact n; 9842.1[ms] Precontrol
System limit velocity Kvn ;9970.1[%] 10402.2 [0.01U/min/s]
9579.1 / 9579.10 Setpoint acceleration
10402.3 [0.01 U/min/s]

Setpoint velocity of FCB09,16,17
nset ; 9602.2[10 -3/min] Setpoint velocity
nsoll ;10200.1 [10-3/min]
Motor speed max ;
9605.1[10-3/min] Diff. velocity; Motor torque setpoint
ndelta ;10099.2[AE] mset ; 9602.4[%10 -3]
Velocity applic. limit only updated with
P-gain; 9716.1;9716.10[AE] P-gain; FCB 07 and FCB 09
X-controller setpoint limit Total moment of inertia;
Kxn ; 9843.1[1/s] Kpn ; 9797.1[1/s] Jtot; 9817.1[kgm 2*10-7]
Setpoint pos. ofFCB09,16,17 + - + +

Xset ; 9602.1[1/65536U] + - + -
Time constant integrator;
Ti n; 9799.1[ms]
Lag error;
xdelta ;10098.1[1/65536U] Act. velocity., filtered; 9980.1[10-3u/min]
Act. velocity , filtered; 10120.1[AE]
Act. velocity
. filter;
Tactn; 9842.1[ms]
Speed Rotor angle ; 9747.1[1/2 32*U] Position Encoder f. act. speed

Encoder f. act. pos.
Actual velocity, unfiltered
9778.1[u/min*10-3] ;n act
scopable values Actual position inincrements; 10068.1 [1/65536U]

Actual position; 9704.1[AE]
Modulo actual position; 9562.5 [AE]
Position control with internal profile generator FCB 09 (page 361), 10 (page 369), 16, 17, 19

f 9
i
P Hz
Torque/current controller 1
VAR4
2
I g max (for ASM)
I d setp
I max. thermal
Current limit 9558.1/2/3

Minimum - Minimum 3
1)
Nominal torque x Ø actual I to M
FCB-dependent settings Nominal q current 2) nominal flow 3)
4
Torque limit
FCB limits 9740.1/2/3 9580.1/2/3 9861.1/2/3 Motor control 9951.5
torque Mappl. limit Msystem limit Mmax motor nact
M Q1 min
M Q2
M Q3
M Q4
[1] 5
max
pos. 9965.16
Transition mode neg. 9965.17
min max
pos. 9965.14
Transition speed
FCB limits
neg. 9965.15
6
9716.1/2/3 9579.1/2/3 9605.1/2/3
speed
nappl. limit nsystem limit nmax motor nact
min max
[2]
n pos
n neg
7
9716.10/11/12 9579.10/11/12
-3
10
Active minimum torque, 9951.1 [%*10 ]
-3 Effective torque/current limit;
Active maximum torque, 9951.2 [%*10 ]
9951.3[10-3 %]
a1:9988.1
11
a2:9989.1 Voltage limit;9826.1[mV]
a3:9990.1 PWM frequency P1/P2/P3;
[3] IqN ;9609.1 a4:9991.1 L I-controller;9734.1[mH]
MN ;9610.1 9748.1/2/3[4,8,16kHz] Motor
iqsoll,ub current-
PWM
control
Motor torque setpoint;

Torque curve
Encoder
12
Torque setpoint i-controller; 9784.1[%*10 -3
] Torque voltagesetp.; 9791.1[10 -3 Veff ]
msetp; 9602.4[%10 -3 ]
only with FCB 07 and FCB09 Torque setpoint i-controller; 9985.1[AE] Torque currentsetp ; 9787.2[10 -3 %]
torque control Motor model
updated
Torque currentact ; 9787.1[10 -3 %] 13

Encoder for actual speed
Scopable variants Actual speed in system units, unfiltered;

9778.1[u/min*10-3] ;n ist Rotor angle; 9747.1[1/2 *U]
32 Encoder for actual position 14
1) P1/P2/P3; 9610.1/2/3
2)
Speed Position
P1/P2/P3; 9609.1/2/3
3)
P1/P2/P3; 9606.1/2/3
[1] Limiter 1
[2] Limiter 2 Actual position in increments; 10068.1 [1/65536U] 15
[3] Limiter 3 Actual position; 9704.1[customized]
1239636875 16
Refer to the illustration for limits that are activated.
The relationship between the min/max delimiters 1 – 3 and the specific limit statement 17
is listed in the following table.
Significance "1" means that this delimiter limits the input parameters and sets the limit 18
values to its output. Vice versa with "0".
19
20
21
22

9 f
i
P Hz
The speed limits are then clearly implemented using the limited torque specifications.
Delimiter 1 Delimiter 2 Delimiter 3 Limitation information
0 0 0 No MSet limit
0 0 1 MSet is limited by the specified speed
0 1 0 No MSet limit
MSet is limited by motor control (max. motor current,
0 1 1
Imax. thermal, current limit)
1 0 0 No MSet limit
1 0 1 MSet is limited by the specified speed
1 1 0 No MSet limit
1 1 1 MSet is limited by the torque limit
9734.1 / 9734.2 / Unit: H

9734.3 LI controller
Resolution: 10-7
Branch inductance of the motor.
Is used to set the parameters of the current controller (I controller) (P1/P2/P3). The in-
tegrative time and the gain are set using this parameter.
9558.1 / 9558.2 / 9 Unit: mA

558.3 Current limit
Current limit P1/P2/P3.
The current limit indirectly limits the torque-generating current (Q current), see figure
"Torque/current controller" (page 257). This is the only value in MOVIAXIS® that is di-
rectly entered in [mA]. All other "current" values refer to the nominal current of the de-
vice.
9826.1 / 9826.2 / Unit: mV

9826.3 Voltage
Value range: 0 – 230000 – 1000000, step 1
limit
Control limit output voltage P1/P2/P3.
The value Vrms is the phase unit, the default value is 230 V.
This parameter limits the maximum output voltage, see figure "Torque/current control-
ler" (page 257).

f 9
i
P Hz
Scanning fre- 1
quency
9821.1 / 9821.2 / Value range: 2
9821.3 Scanning
• 0 = 1 ms
frequency
• 1 = 0.5 ms 3
• 2 = 0.25 ms
Scanning frequency n-/X control P1 / P2 /P3
4
Is used to set the scanning frequency of the speed and position controller.
5
A high scanning frequency is only necessary if this is required for the dynamic response.
This is only needed for drives with fast cycle times (<100 ms positioning time).
6
A higher scanning frequency results in a rougher actual speed value resolution. This
means the scanning frequency should be set to a lower value for applications that re-
quire very even velocities. 7
These effects are more likely to occur in encoder systems with unfavorable resolution.
See encoder resolution, chapter "Encoder" (page 338). 8
With the same stiffness and clearance settings, the scanning frequency has no influence
on the gain, integrative time and control technology filter settings that are suggested at 9
startup.
10
9797.1 / 9797.2 / Unit: 10-3/s
9797.3 P-gain
Value range: 0 – 100000 – 10000000, step 1 11
P-gain N controller P1/P2/P3.
The unit of the gain is chosen in such a way that the velocity difference (speed set- 12
point/actual speed value) results in acceleration.
Controller configuration is independent of the used inverter and connected mass mo- 13
ment of inertia because the control operates in SI units (revolution; rpm; rpm/s). Of
course, you need to enter the current total mass moment of inertia "9817.1/2/3
14
(page 262)" to ensure the conversion of acceleration into torque.
9970.1 / 9970.2 / Unit: % 15

9970.3 Speed pre- Resolution: 10-3
control gain 16
Value range: 0 – 100000 – 10000000, step 1
Velocity precontrol gain P1/P2/P3. 17
100% is the optimum value. This gain multiplies the theoretically calculated velocity pre-
control values.
18
19
20
21
22

9 f
i
P Hz
9806.1 / 9806.2 / Unit: %

9806.3 Accelera-
Resolution: 10-3
tion precontrol gain
Value range: 0 – 100000 – 10000000, step 1
Acceleration precontrol gain P1/P2/P3.
100% is the optimum value. This gain multiplies the theoretically calculated acceleration
precontrol values.
9841.1 / 9841.2 / Unit: µs

9841.3 Speed
setpoint filter
FCB 05 Speed control (page 349), speed setpoint filter P1/P2/P3.
Is only active in all speed controlled operating modes. It filters the received speed set-
point.
When using the internal speed profile generator, it is important that the "cycle time of the
external controller" is set to "0 ms" at startup.
9842.1 / 9842.2 / Unit: µs

9842.3 Actual
Value range: 0 – 1000 – 10000000, step 1
speed value filter
Actual speed value filter P1/P2/P3.
This filter is active in the actual speed branch and also in the speed precontrol branch
to smoothen the noise of the actual speed value information.
9838.1 / 9838.2 / Unit: µs

9838.3 Accelera-
Value range: 0 – 5000 – 10000000, step 1
tion precontrol filter
Acceleration precontrol filter P1/P2/P3.
Acceleration precontrol filter P1/P2/P3 is only active in speed-controlled FCBs.
When using the internal profile generator, it is important that the "cycle time of the exter-
nal controller" is set to "0 ms" at startup.
10058.1 / 10058.2 Value range:

/ 10058.3 Switched
• 0 = Switched
integrator
The integrator is stopped when the control limit is reached to achieve a low overshoot
of the actual speed value when reentering the control range.
• 1 = Not switched
Is required for the special control function "dual drive".
Closed-loop speed controller switched integrator P1/P2/P3.
The control limit can be reached with very large setpoint changes at the speed control
input. The control limit is characterized by various specified limits that are calculated on-
line (current limit, acceleration limits, motor limits, inverter limits, voltage limit, etc.).

f 9
i
P Hz
9994.1 / 9994.2 / 9 Value range: 2

994.3 Integrator
• 0 = Hold
mode
• 1 = Delete 3
• 2 = "Initialize" using the source of parameter 9995. Integrator initialization
(page 262). 4
Speed control integrator mode P1/P2/P3.
The start value of the integrator behavior can be influenced by this parameter. 5
The changes are naturally very much dependent on the "Integrator integrative time;
P9799.1". The higher the integrative time, the longer will last the adjustment of the initial 6
value to the actually present disturbance.
Integrator behavior depends on the selected parameter set. 7
Hold: The content of the integrator is maintained when the speed control loop is opened.
When the speed control loop closes again, the torque previously contained in the inte- 8
grator is directly adjusted at the motor shaft again. This operating mode is particularly
useful in hoists to prevent the load from sagging when the brake is released. 9
The speed control loop can be closed by selecting FCB 05 speed control (page 349) or
any other FCB (e.g. FCB 09 Positioning (page 361)) that activates the speed controller.
10
At a software reset, the content of the integrator is stored in non-volatile memory from
where it is loaded again. With a software cold start (after power off/on), the integrator
will always be cleared because the values are not saved when switching the power sup-
11
ply off.
Delete: The content of the integrator is set to zero when the speed control loop is 12
opened. When the speed control loop closes once again, the integral component is set
to zero and adjusted to a torque of "zero". 13
Initialize: This setting lets you set the I component of the speed controller (torque) to a
predefined value. The source of this value is defined in parameter 9995.1 Integrator ini- 14
tialization (page 262). This value takes effect when the speed control loop closes.
15
Speed control
is closed with
e.g. DI00=1; 16
FCB05 selection Initializing
(2)
17
Integrator Integrator
Hold mode; initialization; 18
(0=default) 994.1 ? 9995.1 ?
Process data buffer 0..15
Local setpoint 19
Delete
(1)
20
Integrator new = Integrator new = Integrator new =
Integrator new = 0
integrator old integrator local;9996.1 process data buffer 0..15
(e.g hoist
(e.g. unclear
(e.g. systems with (e.g. systems with def. 21
load situation)
application) def. static friction) static friction)
1239639307 22

9 f
i
P Hz
9995.1 / 9995.2 / Value range:

9995.3 Integrator
• 0 = Local setpoint
initialization
of parameter 9996.1 Local integrator.
• 1 – 16 = Process data buffer, channel 0 – 15
Speed control integrator initialization source P1/P2/P3.
Takes effect when parameter 9994.1 Integrator mode (page 261) is set to "Initialize".
9996.1 / 9996.2 / Unit: %

9996.3 Local
Resolution: 10-3
integrator
Value range: -1000000 – 0 – 1000000, step 1
Speed control integrator initialization local P1/P2/P3.
When the speed control loop closes, the torque of parameter 9996.1 "Local integrator"
is directly adjusted at the motor shaft.
Only takes effect if parameter 9994.1 Integrator mode (page 261) is set to "Initialize" and
parameter 9995.1 Integrator initialization (page 262) is set to "local".
This parameter must also be specified in the user unit.
For default setting of the user unit torque
• Parameter 9555.1 Torque resolution (page 285) = 10E-3.
• Parameter 9556.1 Torque numerator (page 285) = 1.
the unit is [%nominal torque_motor ×10E-3; parameter 9610.1 (page 263)].
This setting can also be made using the bus, see the description on setting the torque,
parameter 9555.1 (page 285); parameter 9556.1 (page 285); parameter 9557.1
(page 286).
9817.1 / 9817.2 / Unit: kgm2

9817.3 Total mass
Resolution: 10-7
moment of inertia
Total mass moment of inertia P1.
Position controller
9843.1 / 9843.2 / Unit: 10-3/s
9843.3 P-gain
Value range: 0 – 50000 – 10000000, step 1
Gain X controller P1/P2/P3.
10201.1 / 10201.2 Value range:

/ 10201.3 Setpoint • 0 = Off
limit position con-
troller • 1 = On

f 9
i
P Hz
Balance controller 1
(10060.1) / Value range: See parameter 9995.1 Integrator initialization (page 262).
10060.2 / 10060.3 2
Balance controller NMin source P1.
NMin source
For details, see FCB 22 Dual drive (page 385).
3
(10062.1) / Unit: 10-3/min
10062.2 / 10062.3
Value range: -2147483648 – 2147483647, step 1 4
NMin local
Balance controller NMin local P1.
5
6
(10059.1) / Value range: See parameter 9995.1 Integrator initialization (page 262).
10059.2 / 10059.3
Balance controller NMax source P1.
NMax source 7
8
(10061.1) / Unit: 10-3/min
10061.2 / 10061.3
Value range: -2147483648 – 2147483647, step 1 9
NMax local
Balance controller NMax local P1.
For details, see FCB 22 Dual drive (page 385). 10
9.2.2 Motor parameters P1/P2/P3 11

9820.1 / 9820.2 / Value range:
9820.3 Motor type • 0 = Asynchronous motor 12
• 1 = Synchronous motor
13
Motor type P1/P2/P3.
14
9732.1 / 9732.2 / 9 Value range: 1 – 3 – 64, step 1
732.3 Number of
Number of pole pairs P1/P2/P3.
pole pairs 15
The number of motor pole pairs is set here.
16
9610.1 / 9610.2 / Unit: Nm 17

9610.3 Rated
Resolution: 10-5
torque
Value range: 0 – 100000 – 2147483647, step 1 18
Rated motor torque P1/P2/P3.
The values specified in "torque" in MOVIAXIS® refer to this rated torque value. 19
All values specified in "current" in MOVIAXIS® refer to the rated current of the unit.
20
21
22

9 f
i
P Hz
9861.1 / 9861.2 / Unit: Nm

9861.3 Maximum
Resolution: 10-5
torque
Maximum motor torque P1/P2/P3.
9605.1 / 9605.2 / Unit: 10-3/min

9605.3 Maximum
Value range: 0 – 3000000 – 10000000, step 1
speed
Maximum permitted motor speed P1/P2/P3.
9987.1 / 9987.2 / Unit: mA

9987.3 Maximum
current
Maximum motor current P1/P2/P3.
9609.1 / 9609.2 / Unit: mA

9609.3 Rated cur-
rent Iq
Iq rated current P1/P2/P3.
9819.1 / 9819.2 / Unit: mA

9819.3 Rated cur- Value range: 0 – 2000000, step 1
rent Id
Id rated current P1/P2/P3.
9606.1 / 9606.2 / Unit: µVs

9606.3 Rated flow Value range: 0 – 2147483647, step 1
Rated flow P1/P2/P3.
9736.1 / 9736.2 / Unit: H

9736.3 Leakage
inductance
CFC LSigma P1/P2/P3.
9738.1 / 9738.2 / Unit: µΩ

9738.3 Rotor resis-
tance
Rotor resistance P1/P2/P3.
9737.1 / 9737.2 / Unit: µs

9737.3 Flow-time
constant
Flow time constant P1/P2/P3.

f 9
i
P Hz
9816.1 / 9816.2 / Unit: µs 1

9816.3 Rotor time
constant
Rotor time constant P1/P2/P3. 2
9834.1 / 9834.2 / Unit: U 3

9834.3 Encoder
Resolution: 1/232
offset 4
Encoder offset P1/P2/P3 is indicated in angular degrees in MotionStudio (232 = 360
000 degrees). 5
The encoder offset refers to the mechanical revolution of the motor. A mechanical
revolution is the electrical revolution multiplied by the number of poles specified in pa- 6
rameter 9732.1 (page 263).
7
Encoder
9597.1 / 9597.2 / Value range: 8
9597.3 Actual
• 0 = No encoder
speed source
• 1 = Encoder 1 9
• 2 = Encoder 2
10
• 3 = Encoder 3
Actual speed source P1/P2/P3.
11
The parameter is set in the parameter tree folder "Motor data".
This parameter is used to select the encoder that provides information for the speed 12
controller, current controller and commutation of the motor control.
The source of the actual speed may not be changed to another source during controller 13
enable.
Only the encoder assigned to the parameter set number can be chosen as the source. 14
This is verified when activating controller enable.
See also parameter 9595.2 Connected to drive no. in the "Encoder" chapter (page 344). 15
9744.1 / 9744.2 / Value range:
9744.3 Actual
16
• 0 = No encoder
position source
• 1 = Encoder 1 17
• 2 = Encoder 2
• 3 = Encoder 3 18
Actual position source P1/P2/P3.
19
This parameter is used to select the encoder that provides the actual position informa-
tion for the position controller of the motor control. 20
21
22

9 f
i
P Hz
The source of the actual position may be switched to another source during controller
enable.
Only the encoder assigned to the parameter set number can be chosen as source. This
is verified as long as the controller is enabled.
See also parameter 9595.2 Connected to drive no. in the "Encoder" chapter (page 344).
Brake
Brake control The parameters for the brake function are usually set by the startup process when the
connected motor is entered or the data is read from the electronic nameplate.
Brake control is an independent function that is called up directly after the FCBs. It pro-
cesses the requests of the FCB currently used and controls the control terminal for the
brake accordingly.
The brake terminal is monitored for supply voltage and control signal level during the
same time interval and depends on the relevant requirements of the FCBs for brake con-
trol.
INFORMATION
When output stage enable is revoked or output stage inhibit is set, the brake signal is
immediately set to "close" and the output stage is disabled => A moving motor makes
an emergency stop using the installed brake, or coasts to a stop.
CMP, CMD, and DS motors can be equipped with a servo holding brake. In this case,
only a very limited number of emergency stops is possible.
Brake release time parameter 8749.0 / 8750.0 / 9745.3

Brake control
Brake application time parameter 8585.0 / 8586.0 / 8587.0
and
Brake type parameter 9833.1/2/3 brake monitoring
Brake function on/off

Parameter 8584.0 / 8586.0 / 8587.0
Request
Currently "Release brake"
used
FCB Request
"Apply brake"
Control signal Error
"Brake rel./appl." signals
Brake output
DB00 brake
1239643275

f 9
i
P Hz
10230.1 / 10230.2 Name of the commissioned brake. 1

/ 10230.3 Brake
name
2
9833.1 / 9833.2 / Value range:
9833.3 Brakes 3
• 0 = None
• 1 = Brake connected to brake rectifier 4
• 2 = Brake directly connected
Brake type P1. 5
The control terminal and supply voltage for the brake are monitored:
1. Supply voltage within the specified tolerances or not => Error message "E13 Brake 6
supply". Monitoring is only active when the brake is released or while the brake is
being released. 7
2. No brake connected or brake control output overloaded => Error message "E12
Brake output". The brake message signal is monitored with a delay of t = 150 ms after 8
the signal to release the brake has been issued. The current rise time is bridged until
the required brake current is reached. Monitoring is active as long as the brake is re-
leased. 9
INFORMATION 10
Monitoring is only active when the brake type parameter is set to "Brake directly con-
nected". 11
The three- or two-wire brake from SEW-EURODRIVE is not monitored (setting:
"Brake connected to brake rectifier" or "None"). 12
13
INFORMATION
If parameter 9833.1 / 2 / 3 Brake type is set to "No brake", the brake output is set to 14
"Brake applied".
This means that the setting of parameter 8584.0/8586.0/8587.0 Brake function
15
(page 270) has no effect on the brake output.
16
8749.0 / 8750.0 / Unit: ms 17

9745.3 Brake Value range: 0 – 2000, step 1
release time 18
Brake release time P1/P2/P3.
During the brake release time, the drive is moved with speed control at the setpoint 19
speed "zero", for example to prevent the load from sagging.
20
21
22

9 f
i
P Hz
8585.0 / 8587.0 / Unit: ms

9726.3 Brake
Value range: 0 – 200 – 2000, step 1
application time
Brake application time P1/P2/P3.
During the brake application time, the output stage is enabled and speed control with
the set value "zero" is active, for example to prevent the load from sagging.
Temperature sen-
sor
10046.11 / 10046. Value range:
12 / 10046.13 • 0 = No sensor
Temperature
sensor type • 1 = TF / TH
• 2 = KTY (84 – 130)
Temperature sensor type P1/P2/P3.
This parameter is used to set the temperature sensor to ensure it is evaluated properly.
9.2.3 Monitoring functions P1/P2/P3

Speed monitoring
8557.0 / 8559.0 / Value range:
9721.3 Speed • 0 = Off
monitoring
• 1 = Motoring operation
• 2 = Regenerative operation
• 3 = Motoring/regenerative operation
Speed monitoring P1/P2/P3.
Is set by the motor startup procedure.
If speed monitoring is not set to "off", the control variable limit of the speed controller is
monitored. If a certain adjustable delay time is set for parameter 8558.0 Delay time
(page 269), an error response will be triggered. Events in which the control limit is
reached for a short time period while the drive is accelerating or decelerating can be
blocked using the appropriate setting in parameter 8558.0 Delay time (page 269).
The control variable limit is based on all acceleration limit values. This includes data
such as system limits, application limits, FCB limits, maximum motor torque limits as well
as maximum axis current and thermally limited axis current.
See also figure "Torque/current controller" (page 257).
Motoring/regenerative operation is distinguished as follows:
• Sign of (speed × torque) = positive → speed limit motoring operation → results in
E08: Suberror code 1.
• Sign of (speed × torque) = negative → speed limit regenerative operation → results
in E08: Suberror code 2.

f 9
i
P Hz
Monitoring is always activated at speeds lower than 10 rpm (if parameter 88557 ≠ 0). 1
This is independent of whether the cause is regenerative or associated with the motor.
The reason is that the actual speed value information is distorted by noise during re-
solver evaluations and at small actual speeds. In this way, it cannot be clearly defined
2
whether a motor or regenerative load is present.
3
INFORMATION
4
If the actual speed exceeds the maximum permitted system limits of parameter 9579.1
(page 279) "positive" and parameter 9579.10 (page 279) "negative", a device fault will
be triggered. Unlike monitoring of the control limit, this type of monitoring cannot be 5
disabled or limited by setting speed monitoring to "off".
6
8558.0 / 8560.0 / 9 Unit: ms
722.3 Speed moni- 7
toring delay time
N monitoring delay time P1/P2/P3.
Is set by the motor startup procedure. 8
When the control limit of the speed controller is reached, a timer responsible for the
delay time is started. Once the delay time is exceeded, a device fault is triggered. If the 9
speed controller leaves its control limit before the delay time expires, the timer will be
decremented until "zero" is reached. 10
Also see the following figure.
11
t
12
[1]
13
[2]
14
= [3]
1240197003
15
[1] Parameter "8558.0 Delay time"
[2] Trigger error E08 16
[3] Control limit
17
9718.1 / 9718.2 / Unit: ms
9718.3 Speed Value range: 0 – 1000, step 1 18
monitoring reset
time factor N monitoring reset time factor P1/P2/P3.
Is set by the motor startup procedure. 19
Use the "Speed monitoring reset time" factor to set how fast the timer decrements when
leaving the control limit compared to the delay time. This factor usually is equal to 1. For 20
example, a factor of 3 means the counter decrements three times faster.
21
22

9 f
i
P Hz
Brake function
8584.0 / 8586.0 / 9 Value range:
725.3 Brake func-
• 0 = Off
tion
• 1 = On
Brake function P1.
This parameter has an effect when stopping in STOP FCBs 14, 13 and 12, and when
starting in the other FCBs (for example, FCB 05 (page 349), 09 (page 361)
See figure "Brake control" (page 266).
This parameter can be used to activate or deactivate the brake function regardless of
whether a brake is connected (parameter 9833.1/2/3 Brake type (page 267)).
• 0 = Off
When the drive is stopped, the brake is not applied if motor standstill is detected. The
output stage remains enabled and the drive adjusts to the speed setpoint "zero", unless
hold control is active.
Upon enable, the drive starts running without delay caused by a brake release time.
• 1 = On
When the drive is stopped, the brake is applied if motor standstill is detected. The brake
application time is taken into account. The output stage is blocked and the drive is elec-
trically connected with no torque if this brake application time has expired.
When the motor brake is applied, asynchronous motors are premagnetized upon receiv-
ing an enable signal.
If synchronous motors are connected, the output stage and control will be activated.
The brake is then released taking the brake release time into account with activated con-
trol. Once the brake release time has elapsed, the selected FCB is activated with the set
setpoint.
INFORMATION
The "Brake function" parameter has no effect on the brake output if parameter
9833.1/2/3 Brake type" (page 267) is set to "no brake". This way, the brake output is
permanently set to the status "Apply brake".

f 9
i
P Hz
Standstill current 1
function
9826.11 / 9826.12 Value range: 2
/ 9826.13 Stand- • 0 = Off
still current func-
tion • 1 = On 3
Activates/deactivates the standstill current function. This function is only effective for
asynchronous motors. In a synchronous motor, no current is impressed even if the 4
standstill current function is activated. A prerequisite for the standstill current function is
that the motor has a brake and that the brake function is activated. Another prerequisite
5
for the standstill current function is that controller enable is activated (DI00 = "1").
In case of an activated stop (FCB00, FCB13, FCB14, FCB15), the standstill current
function automatically impresses a current which is defined in the parameter "standstill
6
current value". In case of a travel command, the activated standstill current function
shortens the premagnetization time in the standstill phase until the motor begins to turn. 7
If a standstill current of 100% is set, the premagnetization time is reduced to zero, as in
this case the standstill current equals the magnetization current.
8
9826.21 / Unit: %
9826.22 / 9826.23 9
Standstill current
value Defines the magnitude of the standstill current of the motor in [%], based on the nominal 10
magnetization current "Nominal current Id" of the motor, also see parameter 9819.1 – 3
(page 264).
11
Limit switch evalu- A certain travel range of a drive can be monitored using hardware limit switches. Soft-
ation ware limit switch monitoring can be activated if there are no hardware limit switches or 12
for early detection purposes. Each limit switch (positive or negative software limit switch)
can be activated/deactivated independently of one another.
13
The source of the software limit switches (encoder1 – encoder3) can also be set. A pre-
requisite for software limit switch monitoring is that the selected encoder is referenced.
14
The acknowledgement behavior applies both to software and hardware limit switches.
You can set whether acknowledgement is required in the error response. You can
choose between "Auto-reset" or "Waiting". 15
If a limit switch was hit, the error must be acknowledged depending on the programmed
limit switch response before the drive moves clear of the limit switch. The acknowledge- 16
ment is accepted even if the drive has not yet reached standstill. In this case, movement
clear of the limit switch will be triggered immediately once the axis stop was detected. 17
Limit switch processing checks the sign of the currently present setpoint (e.g. target po-
sition of positioning). The drive moves along the currently set ramp of the currently set 18
FCB if this setpoint results in leaving the limit switch.
If the setpoint makes the drive move further into the limit switch, the drive will remain
19
stopped.
Software limit switches are no travel range limit but the down ramp of the set error re-
sponse must be taken into account additionally.
20
21
22

9 f
i
P Hz
INFORMATION
For influencing limit switches by reversing the direction of rotation, see parameter
8537.0 Direction of rotation reversal (page 250).
The limit switch signals are debounced by the software (debouncing time 200 ms).
Moving clear of A certain travel range of a drive can be monitored using hardware limit switches.
hardware limit
If hardware limit switches are not used or, for example, an early warning alarm should
switches
be activated when a specific position is exceeded, then the software limit switches inte-
grated in MOVIAXIS® can be activated.
Each limit switch (left or right software limit switch) can be activated/deactivated inde-
pendently of one another. The source of the software limit switch (encoder1 - encoder3)
can also be set. If the drive hits one of the two software or hardware limit switches, it
reacts using one of the responses set by the user.
Software and hardware limit switches basically react in the same way. In order to enable
the monitoring function, the appropriate encoder must be referenced.
9729.6, 9729.7, Value range:

9729.8 Hardware • 0 = No response
limit switch
response • 6 = Emergency stop / waiting
• 10 = Stop at system limit / waiting
• 18 = Emergency stop / autoreset
• 19 = Stop at system limit / autoreset
Hardware limit switch response P1/P2/P3.
The hardware limit switch response sets the error response in the event that a hardware
limit switch is hit.
• No response
Error is ignored
• Emergency stop / waiting
The motor is stopped at the emergency stop ramp. After a restart, the axis performs a
warm start. This means that the axis is immediately ready to operate again (without de-
lay).
• Stop at system limit / waiting
The motor is stopped at the system limit. After a restart, the axis performs a warm start.
This means that the axis is immediately ready to operate again (without delay).

f 9
i
P Hz
• Emergency stop / autoreset 1

The motor is stopped at the emergency stop ramp. No reset is expected.
• Stop at system limit / autoreset 2
The motor is stopped at the system limit. No reset is expected.
3
For detailed information about this topic, refer to the operating instructions in the "Oper-
ation" chapter.
4
9824.1, 9824.2, Value range: see parameter "9744.1 Actual speed source".
9824.3 Software
Software limit switch monitoring source P1/P2/P3. 5
limit switch moni-
toring source
6
9729.13, 9729.14, Value range: see parameter "9729.6 Hardware limit switch response".
9729.15 Software 7
Software limit switch response P1/P2/P3.
limit switch
response 8
9798.1, 9798.2, Value range: 9

9798.3 Monitor • 0 = Off
negative software
limit switch • 1 = On 10
Negative software limit switch monitoring P1/P2/P3.
• Off 11
Software limit switch is not monitored.
12
• On
Software limit switch is monitored.
13
9961.1, 9961.2, Unit: U
9961.3 Negative 14
Resolution: 1/65536
software limit
switch Value range: -2147483648...2147483647, step 1 15
Software limit switch left P1/P2/P3.
16
9801.1, 9801.2, Value range:
9801.3 Monitor
positive software
• 0 = Off 17
limit switch • 1 = On
Monitor positive software limit switch P1/P2/P3. 18
• Off
19
Software limit switch is not monitored.
• On
20
Software limit switch is monitored.
21
10064.1, 10064.2, Unit: U
10064.3 Positive Resolution: 1/65536
software limit 22
switch Value range: -2147483648...2147483647, step 1
Software limit switch right P1/P2/P3.

9 f
i
P Hz
"Motor at standstill"
signal
10056.1 / 10056.2 Unit: 10-3/min
/ 10056.3 Velocity
threshold "Motor at
standstill" – status Velocity threshold motor at standstill P1/P2/P3.
bit If the actual velocity is lower than this value, the "Motor at standstill" bit is set once the
filter time of parameter "100057.1" has expired. If the velocity threshold is exceeded dur-
ing the filter time, the filter will be reset to "zero" and starts again when the actual velocity
drops below the velocity threshold again.
10057.1 / 10057.2 Unit: ms

/ 10057.3 Filter Value range: 0 – 25, step 1
time "Motor at
standstill" – status Filter time motor at standstill P1/P2/P3.
bit See parameter 10056.1 Velocity threshold motor at standstill (page 274)
Motor protection When MOVIAXIS® detects that the maximum temperature of the motor is exceeded, it
can respond in five different ways. These responses can be configured at startup. The
responses range from "No response", through "Display" to various stop types.
MOVIAXIS® has a total of four different types or options to monitor the thermal proper-
ties of a motor and to protect it from overload and irreparable damage. These types differ
in quality and response capability.
1. Motor monitoring with TF / TH sensor

With this method, the configured action is executed when the limit temperature is
exceeded.
2. Motor monitoring for types CMP, CM, CMD with KTY sensor
With this method, the configured action is triggered using temperature recording (in °C)
and evaluation of the warning threshold of the motor when a limit temperature is ex-
ceeded. For all specified SEW-EURODRIVE motors, a KTY is used as a temperature
sensor (initial values) to calculate the amount and time of the motor currents (history and
course) in a motor-specific, thermal motor model in MOVIAXIS®.
The KTY also protects motors, e.g. CMP40, for which a purely mechanical temperature
detection function would be too slow so that the motor might be damaged as a result.
This functionality is only available for the specified SEW-EURODRIVE motors. It is the
best way to ensure thermal protection for SEW-EURODRIVE servomotors.

f 9
i
P Hz
3. Motor monitoring with KTY sensor 1

With this method, the configured action is executed when the limit temperature is ex-
ceeded. 2
4. Motor monitoring with KTY sensor and I2t table 3

With this method, the KTY sensor is used to read initial temperature values. A
torque/speed curve point table (max. 8 curve points) supplied by the motor manufacturer 4
can be used to adjust the dynamic behavior, or the values can be calculated in the in-
verter.
5
The combination of the two values can be used to offer better protection for the motor
than is available with a KTY alone.
This is the best way to protect a non-SEW motor connected to MOVIAXIS®.
6
The motor protection / connected motor temperature sensor is set at startup.
7
KTY is set: The implementation monitors wire breakage (> 1767 Ω; approx. 196 °C with
KTY84 – 130) and short circuit (< 305 Ω; approx. -52 °C with KTY).
8
TF/TH is set: Implementation switches at 1725 Ω (approx. 117 mV).
9
8904.0 / 8905.0 / Value range:
10046.1 (not in
• 0 = No sensor
parameter tree) 10
• 1 = TF / TH
• 2 = KTY84 – 130 11
Temperature sensor type TMU1/TMU2/TMU3.
12
10063.1 / 10063.2 Value range:
/ 10063.3 (not in
• 0 = TMU1 13
parameter tree)
• 1 = TMU2
• 2 = TMU3 14
Thermal motor monitoring used in parameter set P1/P2/P3.
15
Three thermal monitoring functions are available for operating three motors alternately
on one inverter. By default, parameter set 1 is assigned monitoring 1, parameter set 2
is assigned monitoring 2, etc. 16
For example, the thermal monitoring used in parameter set 2 should be set to "1" if the
same motor as in parameter set 1 is used in parameter set 2. When using a model, doing 17
so will prevent that heat drawn into the motor is distributed to several models and dis-
torts the model values.
18
9872.1 / 9872.2 / Unit: °C
9872.3 Tempera- 19
Resolution: 10-6
ture KTY sensor
KTY temperature sensor TMU1/TMU2/TMU3. 20
Temperature of the sensor TMUx accurate within ±5.7 °C.
21
22

9 f
i
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9800.1 / 9800.2 / Unit: °C

9800.3 Thermal
Resolution: 10-6
motor model
temperature Winding temperature model P1/P2/P3.
Temperature of the thermal motor model P1/P2/P3.
9705.1 / 9705.2 / Unit: %

9705.3 KTY sensor
Resolution: 10-3
motor utilization
Motor utilization KTY TMU1/TMU2/TMU3.
The following applies to the relative utilization values:
Temperature KTY sensor - 40 °C

Motor utilization KTY sensor =
T - 40 °C
Motor_max
A temperature of 40 °C corresponds to a utilization of 0%.
9874.1 / 9874.2 / Unit: %

9874.3 Thermal Resolution: 10-3
motor model motor
utilization Motor utilization model P1/P2/P3.
The motor utilization uses a motor model to calculate the temperature transition of the
motor to the KTY sensor. The injected current is also taken into account. The display is
output in % and starts at a motor model temperature of 40 °C = 0% and a shutdown
temperature = 100%.
Thermal motor model - 40 °C

Motor utilization thermal model =
T - 40 °C
Motor_max
9962.1 / 9962.2 / Unit: %

9962.3 Motor utili-
Resolution: 10-3
zation prewarning
threshold Value range: 0 – 80000 – 100000, step 1
Motor utilization prewarning threshold TMU1/TMU2/TMU3.
The prewarning threshold refers to parameter 9705.1 KTY sensor motor utilization
(page 276) and parameter 9874.1 Thermal motor model motor utilization (page 276) (if
calculated). If one of the parameters exceeds this threshold, an error is triggered with
the error response "Display only".
The 7-segment display shows the "E69" status but the axis does not respond (continues
to operate).
• E69.1 KTY: Warning threshold exceeded
• E69.2 Synchronous model: Warning threshold exceeded
• E69.3 I2t-model: Warning threshold exceeded
The function "Prewarning motor temperature (KTY)" can be applied to a status word and
consequently also to an output to allow a timely response in the machine controller.

f 9
i
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9729.9 / 9729.10 / Value range: 1

9729.11
• 0 = No response
TF / TH / KTY
signal response • 1 = Display only 2
• 2 = Output stage inhibit / waiting
3
• 3 = Emergency stop / waiting
• 4 = Stop at application limit / waiting
4
If the parameter 9705.1 KTY sensor motor utilization (page 276) and parameter 9874.1 5
Thermal motor model motor utilization (page 276) (if calculated) exceed 100%, error
message E31.x will be issued. The error response to this message is set in response
TF/TH/KTY signal. 6
• No response
7
Error is ignored
• Display only 8
The 7-segment display shows the "E031" status but the axis does not respond (contin-
ues to operate).
9
• Output stage inhibit/waiting
The axis changes to the controller inhibit state and applies the mechanical brake, if in- 10
stalled. If no brake is installed, the motor will coast to a stop. After a reset, the axis per-
forms a warm start. This means that the axis is immediately ready to operate again (with-
out delay). 11
12
The motor is stopped along the emergency stop ramp. After a reset, the axis performs
a warm start. This means that the axis is immediately ready to operate again (without
delay). 13
• Stop at application limit/waiting
14
The motor is stopped at the application limit. After a reset, the axis performs a warm
start. This means that the axis is immediately ready to operate again (without delay).
15
The motor is stopped at the system limit. After a reset, the axis performs a warm start.
This means that the axis is immediately ready to operate again (without delay). 16
17
18
19
20
21
22

9 f
i
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9.2.4 Limit values P1/P2/P3

General descrip-
tion of the limits
6631496331
The MOVIAXIS® servo inverter has to limits that are independent of each other. These
are the system limit and the application limit.
The system limit is defined as a fixed limit to protect the drive train (that is the motor,
gear unit and transmission parts).
Unlike the system limit, the application limit is a variable protection of the product.
The emergency stop ramp can be programmed as required.
The system limit may only be modified when the output stage is inhibited. The applica-
tion limit can be modified during operation as required via process data. For instance,
you can modify a position dependent torque limit in this way.
Special features of • Maximum velocity positive / negative

the system limit
Unlike the application limit, the system limit monitors the actual velocity and inhibits
the output stage immediately when this limit is reached. In this case, fault 08 sub-fault
3 is displayed. This is the reason why you have to pay attention to the signal-to-noise
ratio to the traveling velocity in order to prevent non-controlled acceleration beyond
the system velocity.
This limit is active in all operating modes with enabled output stage and can not be
deactivated.
• Maximum acceleration, deceleration, jerk
These limits are not active with the interpolated operating modes FCB 06, 08 and 10
"Interpolated speed, torque, and position control". You can disable the limits by set-
ting them to 0. The limits act as limitation and do not generate an error message.
• Maximum torque
This limit is active in all operating modes and limits the maximum torque. It acts as
limitation and does not generate an error message.

f 9
i
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Special features of • Maximum velocity positive / negative 1

application limits
This limit limits the setpoint velocity. This limit is active in all operating modes with
enabled output stage and can not be deactivated. It acts as limitation and does not 2
generate an error message.
• Maximum acceleration, deceleration, jerk 3
These limits are not active with the interpolated operating modes FCB 06, 08 and 10
"Interpolated speed, torque, and position control". You can disable the limits by set- 4
ting them to 0. The limits act as limitation and do not generate an error message.
• Maximum torque 5
This limit is active in all operating modes and limits the maximum torque. It acts as
limitation and does not generate an error message.
6
An exception is FCB 08 "Interpolated torque control" where the "Application" torque
limit is not active.
7
System limits
8
9573.1 /9573.2 / Unit: 10-2/(min×s)
9573.3 Maximum
Value range: 0 – 300000 – 2147483647, step 1
acceleration 9
Maximum velocity within the system limits in user units.
10
9574.1 / 9574.2 / Unit: 10-2/(min×s)
9574.3 Maximum
Value range: 0 – 300000 – 2147483647, step 1 11
deceleration
Maximum deceleration within the system limits in user units.
12
9579.1 / 9579.2 / Unit: 10-3/min
9579.3 Maximum
positive velocity
Value range: 0 – 10000000, step 10 13
Maximum positive speed within the system limits in user units.
14
9579.10 / 9579.11 / Unit: 10-3/min
9579.12 Maximum Value range: 0 – 10000000, step 10 15
negative velocity
Maximum negative speed within the system limits in user units.
16
9580.1 / 9580.2 / Unit: %
9580.3 Maximum 17
Resolution: 10-3
torque
Value range: 0 – 100000 – 100000, step 1
18
Torque limit within the system limits in user units.
19
20
21
22

9 f
i
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9583.1 / 9583.2 / Unit: 1/(min×s2)

9583.3 Maximum
jerk
Maximum jerk limit within the system limits.
Emergency stop
9576.1 / 9576.2 / Unit: 10-2/(min×s)
9576.3 Emer-
Value range: 0 – 300000 – 2147483647, step 1
gency stop decel-
eration 1 Emergency stop deceleration in user units.
Application limits
9571.11 / 9571.12 / Value range: See parameter 9598.1 / 10440.1 Velocity setpoint source (page 350).
9571.13 Maximum Description: See parameter 9598.1 / 10440.1 Velocity setpoint source (page 350).
acceleration
source
9571.1 / 9571.2 / Unit: 10-2/(min×s)

9571.3 Maximum
Value range: 0 – 300000 – 2147483647, step 1
acceleration
Maximum acceleration within the application limits in user units.
9572.13 Maximum Description: See parameter 9598.1 / 10440.1 Velocity setpoint source (page 350).
deceleration
source
9572.1 / 9572.2 / Unit: 10-2/(min×s)

9572.3 Maximum
Value range: 0 – 300000 – 2147483647, step 1
deceleration
Maximum deceleration within the application limits in user units.
9716.21 / 9716.22 Value range: See parameter 9598.1 / 10440.1 Velocity setpoint source (page 350).
/ 9716.23 Maxi- Description: See parameter 9598.1 / 10440.1 Velocity setpoint source (page 350).
mum positive
velocity source
9716.1 / 9716.2 / Unit: 10-3/min

9716.3 Maximum
positive velocity
Maximum positive speed within the application limits in user units.

f 9
i
P Hz
9716.31 / 9716.32 Value range: See parameter 9598.1 / 10440.1 Velocity setpoint source (page 350). 1
/ 9716.33 Maxi-
Description: See parameter 9598.1 / 10440.1 Velocity setpoint source (page 350).
mum negative
velocity source
2
9716.10 / 9716.11 / Unit: 10-3/min 3

9716.12 Maximum
negative velocity 4
Maximum negative speed within the application limits in user units.
5
9740.13 Maximum
Description: See parameter 9598.1 / 10440.1 Velocity setpoint source (page 350).
torque source 6
9740.1 / 9740.2 / Unit: % 7

9740.3 Maximum
Resolution: 10-3
torque
Value range: 0 – 100000 – 100000, step 1 8
Torque limit within the application limits in user units.
9
9582.13 Maximum
Description: See parameter 9598.1 / 10440.1 Velocity setpoint source (page 350). 10
jerk source
11
9582.1 / 9582.2 / Unit: 1/(min×s2)
9582.3 Maximum Value range: 1 – 2147483647, step 1
jerk 12
Maximum jerk limit within the application limits.
13
Modulo limits
9594.10 / 9594.11 / Unit: U 14
9594.12 Modulo
Resolution: 1/65536
overflow
Value range: -2147483648 – 2147483647, step 1 15
Modulo overflow is needed in all modulo operating modes, e.g. in FCB 09 Positioning
(page 361). 16
Modulo overflow specifies the position from which an overflow takes place. The param-
eter is set in user units and has residual management for infinite gear ratios (set using 17
the user unit numerator/denominator factor at motor startup), for example.
Parameter 9998.1 Positioning mode (page 342) should be set to "ON". This means end- 18
less positioning is possible in one direction without losing positions within the modulo
travel range.
19
20
21
22

9 f
i
P Hz
9594.1 / 9594.2 / Unit: U

9594.3 Modulo
Resolution: 1/65536
underflow
Value range: -2147483648 – 2147483647, step 1
Modulo underflow is the opposite of modulo overflow. This means it is the start of the
modulo travel range. In many applications it is "0" but can also range between -180° and
+ 180°.
9.2.5 User units P1 / P2 / P3

MOVIAXIS® offers customers the option of using the controller to send process output
data for the position, speed, acceleration and torque to MOVIAXIS® in user units.
In the axis, this process data is converted into internal units (basis: increments) in the
setpoint cycle of a minimum of 500 µs.
The same process applies to the process input data returned from MOVIAXIS® to the
controller. The data for position, speed, or acceleration is converted into the customer's
user units.
The great advantage for customers / PLC programmers is that they do not have to con-
vert the complex physical conditions in the machine into SEW-EURODRIVE specific
units in their programs. Customers can simply select the units most suitable for their ap-
plications and send them as specifications to MOVIAXIS®.
For example, customers can make the following entries:
• For the position:
• "Compartments", "packages", "bottles", etc.
• For the speed:
• "Bottles / minute", "pouches / second", etc.
• For the acceleration:
• "Pouches / seconds2", "compartments/ min×s", etc.
Position
9539.1 – 4 Displays the unit text of the position entered by the user. The text consists of a maximum
9540.1 – 4 of 16 characters and is set to "Rev." as default, which corresponds to one motor revolu-
9541.1 – 4 Position tion. It is set at motor startup.
unit text

f 9
i
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9542.1 / 9542.2 / Value range: 1

9542.3 Position
• 0 = 0
resolution
• 1 = 1 2
• 2 = 2
3
• 3 = 3
• 4 = 4
4
• 5 = 5
• 6 = 6 5
The position resolution interprets the decimal places because communication buses
communicate using integers only. 6
Example: The position resolution is "3", the user unit is millimeters. This means that the
number "1000" is interpreted via the bus as 1.000 mm. 7
The parameter tree in MotionStudio displays all values already with decimal point.
8
9543.1 / 9543.2 / Value range: 1 – 65536 – 16777215, step 1
9543.3 Position
The numerator/denominator factor is used for converting user units into MOVIAXIS® 9
numerator
basic units. The basic unit is "revolution" with four decimal places. It is set at motor
startup.
10
9544.1 / 9544.2 / See parameter 9543.1 Position numerator (page 283). Default value: 1000.
9544.3 Position 11
denominator
12
Velocity
9532.1 – 4 Displays the unit text of the velocity entered by the user. The text consists of a maximum 13
9533.1 – 4 of 16 characters and is set to "rpm" by default. The text is set at motor startup.
9534.1 – 4 Velocity
unit text 14
9535.1 / 9535.2 / Value range: 15

9535.3 Velocity • 0 = 0
resolution 16
• 1 = 1
• 2 = 2
17
• 3 = 3
• 4 = 4 18
• 5 = 5
• 6 = 6 19
The velocity resolution interprets the decimal places because communication buses
communicate using integers only. 20
Example: The velocity resolution is "3" and the user unit is "rpm". This means that the
number "1000" is interpreted via the bus as "1.000 rpm". 21
22

9 f
i
P Hz
9536.1 / 9536.2 / Value range: 1 – 16777215, step 1

9536.3 Velocity
The numerator/denominator factor is used for converting user units into MOVIAXIS®
numerator
basic units. The basic unit is "rpm" with three decimal places. It is set at motor startup.
9537.1 / 9537.2 / See parameter 9536.1 Velocity numerator (page 284).

9537.3 Velocity
denominator
Acceleration
9546.1 – 4 Displays the unit text for the acceleration entered by the user. The text consists of a
9547.1 – 4 maximum of 16 characters and is set to "rpm". It is set at motor startup.
9548.1 – 4 Accel-
eration unit text
9549.1 / 9549.2 / Value range:

9549.3 Accelera-
• 0 = 0
tion resolution
• 1 = 1
• 2 = 2
• 3 = 3
• 4 = 4
• 5 = 5
• 6 = 6
The acceleration resolution interprets the decimal places because communication
buses communicate using integers only.
Example: The acceleration resolution is "3" and the user unit is "rpm×s". This means that
the number "1000" is interpreted via the bus as "1.000 rpm×s".
9550.1 / 9550.2 / Value range: 1 – 16777215, step 1

9550.3 Accelera-
tion numerator
basic units. The basic unit is "rpm×s" with three decimal places. This means one speed
change per second. It is set at motor startup.
9551.1 / 9551.2 / See parameter 9550.1 Acceleration numerator (page 284).

9551.3 Accelera-
tion denominator

f 9
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Torque Torque setting: 1

The default setting displays the torque in "%" of the rated motor torque selected at
startup. 2
• Torque resolution = 3
• Torque numerator = 1 3
• Torque denominator = 1
4
• Torque unit text = "%"
Example:
5
Set user unit "Newton meter":
• Torque parameter "9552.1 – 4 unit text" = "Nm", 6
• Torque parameter "9555.1 Resolution" = 3.
7
Parameter "9556.1 Torque numerator" 100
=
Parameter "9557.1 Torque denominator" Parameter "9610.1 Nominal torque
8
→ In the parameter tree, torques are entered in "Nm" with three decimal places.
→ The torque has the unit [10-3 Nm] via the bus to the PDOs. 9
9552.1 – 4 Displays the customer's unit text for torque. The text consists of a maximum of 16 char- 10
9553.1 – 4 acters and is set to "%" as default. It is set at motor startup.
9554.1 – 4 Torque
unit text 11
9555.1 / 9555.2 / Value range: 12

9555.3 Torque res-
• 0 = 0
olution 13
• 1 = 1
• 2 = 2
14
• 3 = 3
• 4 = 4 15
• 5 = 5
• 6 = 6 16
The torque resolution interprets the decimal places only for the MotionStudio user inter-
face because communication buses communicate using integers only. 17
Example: The torque resolution is "3" and the user unit is Nm. This means that the num-
ber "1000" is interpreted via the bus as "1 Nm". 18
19
9556.1 / 9556.2 / Value range: 1 – 16777215, step 1
9556.3 Torque 20
numerator
basic units. The basic unit is "%" of the motor torque with three decimal places. It is set
at motor startup.
21
22

9 f
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9557.1 / 9557.2 / See parameter 9550.1 Acceleration numerator (page 284).

9557.3 Torque
denominator
9.2.6 Reference travel P1/P2/P3

MOVIAXIS® offers a number of options for reference travel. The reference travel type
"Reference to fixed stop" is new.
The aim of reference travel is to reference/match the drive and its position data with the
machine design. Referencing is used to identify the real zero point of the drive. This
value is then used to define distances necessary for positioning processes.
MOVIAXIS® offers the following reference travel types:
• Deactivated
• Zero pulse negative direction
• Negative end reference cam
• Positive end reference cam
• Positive limit switch
• Negative limit switch
• No reference travel
• Reference cam overlaps with limit switch positive
• Reference cam overlaps with limit switch negative
• Fixed stop positive
• Fixed stop negative
The reference travel types differ according to the first search direction or the switching
contact (reference cam, limit switch or fixed stop) used for referencing. Reference travel
can apply to all three encoders.
Using the reference point determined by reference travel, the machine zero point can be
changed using the reference offset according to the following equation:
Machine zero = reference position - reference offset

f 9
i
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9658.2 / 10442.1 / Value range: 1

10443.1 Reference
• 0 = Deactivated
travel type
• 1 = Zero pulse negative direction 2
• 2 = Negative end reference cam
3
• 3 = Positive end reference cam
• 4 = Positive limit switch
4
• 5 = Negative limit switch
• 6 = No reference travel 5
• 7 = Reference cam overlaps with positive limit switch
• 8 = Reference cam overlaps with negative limit switch 6
• 9 = Fixed stop positive
7
• 10 = Fixed stop negative
Reference travel types:
8
• General information about reference travel
For applications using absolute positioning commands, you must define the reference 9
point (machine zero). When using absolute encoders, the reference point must be de-
fined once at initial startup. With all other encoder types, machine zero must be defined
each time the machine is switched on. 10
MOVIAXIS® supports 10 different reference travel types that are set via the parameter
9658.2 Reference travel type. 11
If referencing is set to the hardware limit switches and/or the reference cam, these must
be set in the control word/in the digital inputs. 12
If a hardware limit switch is hit during reference travel type 1 or type 2 and the reference
point has not yet been found, the drive turns and continues reference travel in the other 13
direction.
Machine zero = reference point + reference offset. 14
The status "referenced" is reset when the servo inverter is switched off or if error mes-
sages relating to the position measuring system are issued. 15
An exception are absolute encoders, see below section. For Hiperface®
and SSI abso-
lute encoders, the status "referenced" is always set and is only reset during reference 16
travel. The status "not referenced" remains when reference travel is canceled.
When deciding whether to reference to the reference cam or zero pulse, note the follow- 17
ing points:
• The zero pulse shifts when the motor is replaced. 18
• The reference cam could become inaccurate as a result of age, wear or switching
hysteresis.
19
• If the reference point is determined using the zero pulse and reference cam, and
the zero pulse is located exactly at the end of the reference cam, the switching
transition of the reference cam might be detected before or after the zero pulse
20
(switching hysteresis). This can result in a reference position that varies by a
motor revolution from one time to the next. The situation can be remedied by shift- 21
ing the reference cam by about half a motor revolution.
22

9 f
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• Unidirectional drives can only be referenced using a reference cam. Also note
that there is no defined distance between the reference cam and zero pulse of the
encoder for non-integer ratios. This means that in this case only the end of the
reference cam can be selected as the reference point.
• The length of the reference cam and the reference speeds must be selected so
the drive can reliably decelerate to the slower reference velocity (reference veloc-
ity 2) on the reference cam. The end of the reference cam or the closest zero
pulse of the encoder system can be used as the reference point.
• The zero pulse can only be used as a reference point when the encoder has a
zero pulse and the zero track is connected to the servo inverter.
As an option, travel to the home position can be selected after the reference procedure
for each reference travel type using parameter 9656.1 Travel to start position
(page 298). This allows you to freely define the drive position regardless of the reference
point using FCB 12 Reference travel. This means the controller need not perform posi-
tioning travel. The start position is set using parameter 9730.2 Start position (page 299).
The travel speed to the start position is set using parameter 9731.1 Start position veloc-
ity (page 299).
Explanation of symbols used in the "reference travel types" figures
[1]
[2]
H [3]
[4]
[5]
[6]
1240575627
[1] Reference point

[2] Machine zero
[3] Stop position after travel to home position (optional)
[4] Reference cams
[5] Hardware limit switches
[6] Fixed stop

f 9
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• Left zero pulse 1

For this reference travel type, it is mandatory to set parameter "9750.1 Referencing to
zero pulse" (page 298) to "YES". 2
[1] 4
[2]
[3] 5
[4]
H 6
1240733707
7
[1] 9731.2 Clear velocity (page 299)
[2] 9731.1 Start position velocity (page 299) 8
[3] 9730.1 Reference offset (page 299)
[4] 9730.2 Start position (page 299)
9
The reference position is the first zero pulse left of the start position of reference travel.
A reference cam is not required. Only parameter 9731.2 Clear velocity (page 299) (ref-
10
erence speed 2) is used for reference travel.
11
• Negative end reference cam
Parameter 9750.1 Reference to zero pulse (page 298) is set to "YES". 12
13
[1]
[2] 14
[3]
[4] 15
[5]
H 16
1240736139 17
[1] 9731.3 Search velocity (page 299)
[2] 9731.2 Clear velocity (page 299) 18
[3] 9731.1 Start position velocity (page 299)
19
20
21
22

9 f
i
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Parameter 9750.1 Reference to zero pulse (page 298) is set to "NO".
[1]
[2]
[3]
[4]
[5]
1240738571

The reference position is the negative end of the reference cam or the first negative zero
pulse after the end of the reference cam.
A bit in control word 0 – 3 must be set to "REFERENCE CAM".
The reference travel starts with the search velocity in a negative rotational direction up
to the first positive edge of the reference cam. Search velocity changes to clear velocity
once the reference cam is detected.
The reference point will then be the falling edge (negative end) of the reference cam
without "Referencing to zero pulse". If "Reference to zero pulse = yes", the reference
point will be the first zero pulse after the falling edge of the reference cam.
Parameter 9657.1 Hardware limit switch for velocity changeover (page 299) is not rele-
vant for this reference travel type.
• Positive end reference cam

Parameter 9750.1 Reference to zero pulse (page 298) is set to "YES".
[1]
[2]
[3]
[4]
[5]
1240741387


f 9
i
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Parameter 9750.1 Reference to zero pulse (page 298) is set to "NO". 1
2
[1]
[2] 3
[3]
[4] 4
[5]
H 5
1240743819 6
8
The reference position is the positive end of the reference cam or the first positive zero
pulse after the end of the reference cam. 9
10
Reference travel starts in positive direction. The search velocity is used up to the first
positive edge of the reference cam. Search velocity changes to clear velocity once the
reference cam is detected. 11
The reference point will then be the falling edge (right end) of the reference cam without
"Referencing to zero pulse". If "Reference to zero pulse = yes", the reference point will 12
be the first zero pulse after the falling edge of the reference cam.
Parameter 9657.1 Hardware limit switch for velocity changeover (page 299) is not rele- 13
14
• Limit switch positive
15
[1]
16
[2]
[3] 17
[4]
[5]
18
H
19
1240746251
20
22

9 f
i
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The reference position is the first zero pulse to the left of the positive limit switch.
Reference travel starts in positive direction. Search velocity is used up to the falling edge
of the positive limit switch, then clear velocity is used.
• Negative limit switch
[1]
[2]
[3]
[4]
[5]
1240966283

The reference point is the first zero pulse to the right of the negative limit switch.
Reference travel starts in negative direction. Search velocity is used up to the falling
edge of the negative limit switch, then clear velocity is used.
• No reference travel
[1]
[2]
[3]
1240968715


f 9
i
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The reference position is the current position. It makes sense to use this type of refer- 1
ence travel with absolute encoders and for drives that are to be referenced at standstill.
For example, the position of a feed axis can be set to "zero" when the drive is at stand-
still. In this way, the machine operator can tell where the drive is located within each feed
2
movement.
3
• Reference cam overlaps with positive limit switch
4
[1] 6
[2]
[3]
7
[4]
[5]
8
H
9
1240971147
[1] 9731.3 Search velocity (page 299) 10

[4] 9730.1 Reference offset (page 299) 11
12
13
14
[1]
[2] 15
[3]
[4] 16
H
17
1240973579
18
19
The reference position is the negative end of the reference cam or the first zero pulse to 20
the left after the end of the reference cam.
A bit in control word 0 – 3 must be set to "REFERENCE CAM". 21
22

9 f
i
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Reference travel starts in positive direction. Search velocity is used up to the first posi-
tive edge of the reference cam, then clear velocity is used. In contrast to the type "Neg-
ative end reference cam", the drive starts to the right and turns on the reference cam.
Depending on the setting "Reference to zero pulse", referencing takes place to the fall-
ing edge of the reference cam or to the zero pulse following the falling edge of the ref-
erence cam.
The reference cam must start just before or in line with the positive hardware limit switch
and must project into the limit switch. This ensures that no hardware limit switch is hit
during reference travel. Parameter 9657.1 Hardware limit switch for velocity changeover
(page 299) is not relevant for this reference travel type.
• Reference cam overlaps with negative limit switch

[1]
[2]
[3]
[4]
[5]
1240976907

[1]
[2]
[3]
[4]
1241043339

The reference position is the right end of the reference cam or the first zero pulse to the
right after the end of the reference cam.

f 9
i
P Hz
Reference travel starts in negative direction. Search velocity is used up to the first pos- 1
itive edge of the reference cam, then clear velocity is used. In contrast to the type "Pos-
itive end reference cam", the drive starts to the left and turns on the reference cam.
2
Depending on the setting "Reference to zero pulse", referencing takes place to the fall-
ing edge of the reference cam or to the zero pulse following the falling edge of the ref-
erence cam. 3
The reference cam must start just before or in line with the positive hardware limit switch
and must project into the limit switch. This ensures that no contact is made with the hard- 4
ware limit switch during reference travel.
Parameter 9657.1 Hardware limit switch for velocity changeover (page 299) is not rele- 5
6
• Fixed stop positive
Parameter 9657.1 Hardware limit switch for velocity changeover (page 299) is set to 7
"Hardware limit switch".
8
9
[1]
[2]
[3] 10
[4]
[5] 11
H
12
1241045771
13
15
16
17
18
19
20
21
22

9 f
i
P Hz
Parameter "9657.1 Hardware limit switch for velocity changeover" (page 299) is set to
"Reference cam".
[1]
[2]
[3]
[4]
[5]
1241048203

Parameter 9657.1 Hardware limit switch for velocity changeover (page 299) is set to
"without".
[1]
[2]
[3]
[4]
1242546699

The reference position is the positive fixed stop. The machine must be designed so that
the fixed stop withstands the impact of the respective velocity without any damage.
Reference travel starts in positive direction. If parameter 9657.1 Hardware limit switch
for velocity changeover (page 299) is set to "without", reference travel will start with clear
velocity.
With the setting "Hardware limit switch" or "Reference cam", the reference travel starts
with the search speed and reduces to the clear velocity when coming into contact with
the hardware switch or reference cam.

f 9
i
P Hz
Parameter 9655.1 Reference dwell time (page 300) can be used to set the duration for 1
which the torque (parameter 9654.4 Torque reference travel (page 300)) is maintained
on the fixed stop until referencing.
2
• Fixed stop negative 3

"Hardware limit switch". 4
5
[1]
[2] 6
[3]
[4]
7
[5]
H 8
1242549131 9
[5] 9730.2 Start position (page 299) 11
12
"Reference cam".
13
14
[1]
[2]
[3]
15
[4]
[5] 16
H
17
1242551819
18
19
[5] 9730.2 Start position (page 299) 20
21
22

9 f
i
P Hz
"without".
[1]
[2]
[3]
[4]
1242554251

The reference position is the negative fixed stop. The machine must be designed in such
a way that it is not damaged when the fixed stop is reached at high speed.
Reference travel starts in negative direction. If parameter 9657.1 Hardware limit switch
for velocity changeover (page 299) is set to "without", reference travel will start with clear
velocity.
With the setting "Hardware limit switch" or "Reference cam", the reference travel starts
with the search speed and reduces to the clear velocity when coming into contact with
the hardware switch or reference cam.
Parameter 9655.1 Reference dwell time (page 300) can be used to set the duration for
which the torque (parameter 9654.4 Torque reference travel (page 300)) is maintained
on the fixed stop until referencing.
9750.1 / 10442.2 / Value range:

10443.2 Referenc-
• No
ing to zero pulse
• Yes
Reference to zero pulse, see reference travel type parameter 9658.2 (page 287).
9656.1 / 10442.3 / Value range:

10443.3 Travel to
• No
start position
• Yes
Here you set whether the function "Travel to start position" is required.

f 9
i
P Hz
9657.1 / 10442.4 / Value range: 1

10443.4 HW limit
• 0 = None
switch for velocity
changeover • 1 = Hardware limit switches 2
• 2 = Reference cam
3
Hardware switch for velocity change during reference travel, see reference travel type
parameter 9658.2 (page 287).
4
9730.2 / 10442.7 / Unit: U.
10443.7 Start posi-
Resolution: 1/65536. 5
tion
Value range: -2147483648 – 0 – 2147483647, step 1.
6
Start position in user units, see reference travel type parameter 9658.2 (page 287).
7
9730.1 / 10442.5 / Unit: U.
10443.5 Reference
Resolution: 1/65536.
offset 8
Value range: -2147483648 – 0 – 2147483647, step 1.
Reference offset in user units, see reference travel type parameter 9658.2 (page 287). 9
9730.3 / 10442.6 / Unit: U. 10

10443.6 Reference Resolution: 1/65536.
offset modulo
Value range: -2147483648 – 0 – 2147483647, step 1. 11
Reference offset modulo
12
Limit values
9731.3 / 10442.8 / Unit: 10-3 rpm. 13
10443.8 Search
Value range: 0 – 10000000, step 1.
velocity reference
Search velocity in user units (reference velocity 1), see reference travel type parameter 14
speed 1
9658.2 (page 287).
15
-3
9731.2 / 10442.9 / Unit: 10 rpm.
10443.9 Clear 16
velocity reference
speed 2 Clear velocity in user units (reference velocity 2), see reference travel type parameter
9658.2 (page 287). 17
9731.1 / 10442.10 Unit: 10-3 rpm. 18

/ 10443.10 Start
position velocity
reference speed 3 Start position velocity in user units (reference velocity 3), see reference travel type pa- 19
rameter 9658.2 (page 287).
20
21
22

9 f
Communication parameter description
i
P Hz
9654.1 / 10442.11 / Unit: 10-2/min×s.

10443.11 Acceler-
Value range: 0 – 300000 – 2147483647, step 1.
ation reference
travel Acceleration reference travel in user units.
9654.2 / 10442.12 Unit: 10-2/min×s.

/ 104432.12 Decel-
Value range: 0 – 300000 – 2147483647, step 1.
eration reference
travel Deceleration reference travel in user units.
9654.3 / 10442.13 Unit: 1/(min×s2).

/ 10443.13 Jerk
Value range: 1 – 2147483647, step 1.
reference travel
Maximum jerk reference travel.
9654.4 / 10442.14 Unit: %.

/ 10442.14 Torque
Resolution: 10-3.
reference travel
Value range: 0 – 100000 – 1000000, step 1.
Torque limit reference travel in user units.
9655.1 / 10442.15 Unit: ms.

/ 10443.15 Refer- Value range: 0 – 100000, step 1.
ence dwell time
fixed stop Reference dwell time fixed stop.
9.3 Communication parameter description

9.3.1 PDO Editor Process Data Object Editor
The PDO editor is the central, graphical software tool for editing and configuring FCBs
and the entire unit functionality.
The tool is used to determine where data packages should be retrieved from buses or
I/Os and which data packages are to be retrieved, how they should be interpreted (con-
trol/process data), how they are used in the device functions, and how this data is output
(buses or I/O).
This feature makes for maximum flexibility when using the MOVIAXIS® functions without
the user having to perform any programming. The graphical structure makes it easy for
users to familiarize themselves with the tool using the intuitive interface.
9.3.2 Basic settings

9831.1 Stop pro- Value range:
cess data
• No
• Yes
Parameter changes that affect communication (all parameters described in the "Com-
munication" section) will trigger error 66 and stop the process data. The parameter "Stop
process data" = "YES" is also used to stop process data but no error message is gener-
ated.
The effect of parameter and error 66 is that the drive can only be enabled again when
all parameters have been set and the drive does not rotate in a non-controlled manner
at the upper speed limit.

f 9
i
P Hz
9603.1 PDO time- Value range: 1

out response
• 0 = No response
• 1 = Display only 2
3
4
• 17 = Stop at application limits / auto reset 5
• 18 = Emergency stop / auto reset
• 19 = Stop at system limit / auto reset 6
• 20 = Output stage inhibit / auto reset
7
• 21 = Stop at application limits / auto reset without fault memory
• 22 = Emergency stop / auto reset without fault memory
8
• 23 = Stop at system limit / auto reset without fault memory
• 24 = Output stage inhibit / auto reset without fault memory 9
The PDO timeout response sets the fault response for the case that the IN buffer does
not receive an expected process data. The process data was already received and is 10
then absent before the error message is issued. The axis is in state C3 "Waiting for pro-
cess data" after a reset. This is not a fault but a state.
11
0 = No response:
Fault is ignored
12
1 = Display only:
The 7-segment display shows the fault but the axis does not respond (continues to 13
operate).
5 = Output stage inhibit / waiting: 14
The axis changes to controller inhibit state and activates the mechanical brake, if in-
stalled. If no brake is installed, the motor will coast to a stop. After a reset, the axis per- 15
forms a warm start. This means that the axis is immediately ready to operate again (with-
out delay).
16
6 = Emergency stop / waiting:
17
a warm start. This means that the axis is immediately ready to operate again (without
delay).
8 = Stop at application limit / waiting (default):
18
The motor is stopped at the application limit. After a reset, the axis performs a warm
start. This means that the axis is immediately ready to operate again (without delay). 19
10 = Stop at system limit / waiting:
20
The motor is stopped at the system limit. After a reset, the axis performs a warm start.
This means that the axis is immediately ready to operate again (without delay).
21
22

9 f
i
P Hz
17 = Stop at application limits / auto reset

The motor is stopped at the application limit. The axis runs again without a reset when
the fault is no longer present.
18 = Emergency stop / auto reset
The motor is stopped at the emergency stop limit. The axis runs again without a reset
when the fault is no longer present.
19 = Stop at system limit / auto reset
The motor is stopped at the system limit. The axis runs again without a reset when the
fault is no longer present.
20 = Output stage inhibit / auto reset
The motor is stopped by the output stage inhibit. The axis runs again without a reset
when the fault is no longer present.
21 = Stop at application limits / auto reset without fault memory
The motor is stopped at the application limit. The axis runs again without a reset when
the fault is no longer present. Furthermore, no entry is generated in the fault memory.
22 = Emergency stop / auto reset without fault memory
The motor is stopped at the emergency stop limit. The axis runs again without a reset
when the fault is no longer present. Furthermore, no entry is generated in the fault mem-
ory.
23 = Stop at system limit / auto reset without fault memory
The motor is stopped at the system limit. The axis runs again without a reset when the
fault is no longer present. Furthermore, no entry is generated in the fault memory.
20 = Output stage inhibit / auto reset without fault memory
The motor is stopped by the output stage inhibit. The axis runs again without a reset
when the fault is no longer present. Furthermore, no entry is generated in the fault mem-
ory.
For detailed information about this topic, refer to the fault descriptions in the "Operation"
chapter of the operating instructions.
9729.16 Response Value range:

to external fault
• No response
• Display only
Descriptive text see parameter 9603.1 PDO timeout response (page 301)
This parameter sets the corresponding response if a bit was set to "External fault" in
control word 0 – 3.

f 9
i
P Hz
Standard commu- 1
nication
8937.0 CAN1 pro- Value range: 2
tocol selection
• 0 = MOVILINK
3
8938.0 CAN2 pro- Value range:
tocol selection
• 0 = MOVILINK 4
• CANopen
CAN2 protocol selection. 5
“CANopen” provides the following functionality for the CAN2 interface:
6
• NMT bootup message (according to CANopen DS301 V4)
• NMT state machine (only affects SDO communication)
7
• SDO parameter channel
• NMT state "stopped" when switched off, "preoperational" and "operational" when 8
switched on.
• Allows for accessing all parameters with expedited upload/download and non- 9
expedited upload/download".
• Minimal object dictionary with CANopen parameters [0×1008,0], [0×1018,0], 10
[0×1018,1].
• CANopen error register index [0×1001,0] according to DS301 V4. 11
• Life guarding protocol via indices [0×100C,0], [0×100D,0] according to DS301 V4.
• The error response of the life guarding protocol can be controlled using parameter 12
9729.19 in the same way as parameter 9729.17 Fieldbus timeout response.
• The CANopen stack can trigger the following errors: 13
• When violating the CANopen lifetime: error 46, subcode 1
• Invalid CANopen address (0 or > 127): error 66, subcode 2001. 14
• Writable CANopen indices in the range of 0×1000 – 0×2000 are not stored in the
event of power off. They are usually initialized by controllers when booting the CAN- 15
open system.
The indices required to configure the PDO communication according to the CANopen 16
specification DS301 V4 are not implemented, and the NMT state machine does not af-
fect R×PDO and T×PDO via CAN2.
17
An EDS file matching this scope is available from SEW-EURODRIVE.
This is why, in the MotionStudio PDO editor, you must set the PDO for process data 18
communication according to the PLC configuration. COB IDs and transfer mode are of
special importance for this purpose.
19
The COB IDs should be assigned according to CANopen specification DS301 V4.
Example: RX-PDO1 of the axis with address 2 (from PLC to MX) 180hex + address = 20
182hex, TX-PDO1 = 202hex.
The sync message of the axes should be set to 80hex as required by CANopen. 21
22

9 f
i
P Hz
8603.0 CAN1 baud Value range:

rate
• 0 = 125 kBaud
• 1 = 250 kBaud
• 2 = 500 kBaud
• 3 = 1 MBaud
CAN1 baud rate. This is only a display value. It is set using the automatic addressing
function of the power supply module.
8939.0 CAN2 baud Value range:

rate • 0 = 125 kBaud
• 1 = 250 kBaud
• 2 = 500 kBaud
• 3 = 1 MBaud
CAN2 baud rate.
8600.0 CAN1 Value range: 0 – 63, step 1

address Current CAN1 address. This is only a display value. It is set using the automatic ad-
dressing function of the power supply module.
8932.0 CAN2 Value range: 0 – 99, step 1

address
CAN2 address
9825.1 Scope-ID Value range: 0 – 120 – 1073741823, step 1

CAN1
This CAN message ID is used for all axis scope recordings (multi-axis scope).
9883.1 Synchroni- Value range: 0 – 128 – 1073741823, step 1

zation ID CAN1
This synchronization ID is used for CAN1 for sending and receiving.
9882.1 Synchroni- Value range: 0 – 128 – 1073741823, step 1

zation ID CAN2
This synchronization ID is used for CAN2 for sending and receiving.
9877.5 Setpoint You can handle poorer sync messages (with large jitter) by increasing the CAN setpoint
cycle CAN1 cycle. This is especially needed for baud rates below 500 kBaud.
The maximum sync jitter can be ± (setpoint cycle CAN/4). Long-term deviation must not
exceed an average of ± 0.4% of the CAN setpoint cycle.
The CAN setpoint cycle can be increased if the controller cannot maintain the tolerance
of the sync. The value must be a whole-number multiple of the sync cycle.
The default value of "1 ms" is the optimum setting for axis-axis communication within
MOVIAXIS® and a minimum baud rate of 500 kBaud.

f 9
i
P Hz
9878.5 Setpoint Descriptive text see parameter 9877.5 Setpoint cycle CAN1 (page 304). 1
cycle CAN2
2
10118.1 Sync Value range:
mode CAN1
• 0 = Consumer 3
• 1 = Producer
Is used to set whether the axis receives (consumes) or sends (produces) a synchroni- 4
zation protocol on CAN1.
Observe the parameter 9836.1 Synchronization source (page 308) when setting "Con- 5
sumer".
Observe the parameters 9877.1 Sync period (page 305), 9877.2 Sync offset (page 305) 6
and 9877.3 Sync start mode (page 306) when setting "Producer".
7
10118.2 Sync Value range:
mode CAN2
• 0 = Consumer 8
• 1 = Producer
Is used to set whether the axis receives (consumes) or sends (produces) a synchroni- 9
zation protocol on CAN2.
Observe the parameter 9836.1 Synchronization source (page 308) when setting "Con- 10
sumer".
Observe the parameters 9878.1 Sync period (page 305), 9878.2 Sync offset (page 306) 11
and 9878.3 Sync start mode (page 306) when setting "Producer".
12
9877.1 Sync Unit: µs
period CAN1 Value range: 0 – 5000 – 100000000, step 1000
13
Sync period CAN1.
Only if 10118.1 Sync mode CAN1 (page 305) is set to "Producer". 14
15
period CAN2 16
Value range: 0 – 5000 – 100000000, step 1000
Sync period CAN2.
Only if 10118.2 Sync mode CAN2 (page 305) is set to "Producer". 17
9877.2 Sync offset Unit: µs 18

CAN1
Value range: 0 – 5000 – 100000000, step 1000
19
Sync offset CAN1.
Only if 10118.1 Sync mode CAN1 (page 305) is set to "Producer".
20
The offset causes a start delay on the parameter 9877.3 Sync start mode CAN1
(page 306).
21
22

9 f
i
P Hz
9878.2 Sync offset Unit: µs

CAN2
Value range: 0 – 5000 – 100000000, step 1000
Sync offset CAN2.
Only if 10118.2 Sync mode CAN2 (page 305) is set to "Producer".
9877.3 Sync start Value range:

mode CAN1
• 0 = Off
• 1 = when receiving PDO00
• 2 = PDO01
• 3 = PDO02
• 4 = PDO03
• 5 = PDO04
• 6 = PDO05
• 7 = PDO06
• 8 = PDO07
• 9 = PDO08
• 10 = PDO09
• 11 = PDO10
• 12 = PDO11
• 13 = PDO12
• 14 = PDO13
• 15 = PDO14
• 16 = PDO15
• 100 = Direct
The sync start mode CAN1 describes when the axis should start with the sync protocols.
OFF
No sync protocols are sent. The module is disabled.
PDO00 to PDO15
The synchronization protocols are started if the corresponding PDO00 to PDO15 was
received once.
Direct
The synchronization protocols are started immediately after booting.
9878.3 Sync start Sync start mode CAN2.

mode CAN2
See parameter 9877.3 Sync start mode CAN1 (page 306).

f 9
i
P Hz
9992.1 Sync jitter Value range: 1

compensation
• No
CAN1
• Yes 2
The sync jitter compensation function informs the sync protocol how much later it can
place the sync protocol on the CAN. There are always delays if another protocol is being 3
processed during sync (approx. 200 µs).
The receiver will process this offset. 4
®
This is a SEW particularity and always has to be set when MOVIAXIS units are sync
master and sync slave in relation to one another. In this case, the sync jitter compensa- 5
tion for the two other units must be set to "YES".
With external sync master, the sync jitter compensation must be set to "NO". 6
9993.1 Sync jitter Value range: 7

compensation
• No
CAN2
• Yes 8
CAN2 sync jitter compensation.
See parameter 9992.1 Sync jitter compensation CAN1 (page 307)
9
Communication 10
option
8453.0 Fieldbus Value range: 0 – 4294967295, step 1 11
baud rate
The baud rate of the fieldbus is specified by the master depending on the fieldbus type.
In some cases this is only a display value (e.g. PROFIBUS) or an input value. 12
8454.0 Fieldbus Value range: 0 – 4294967295, step 1 13

address
Current fieldbus address (e.g. for PROFIBUS this is a hardware setting on the option
card). In some cases this is only a display value or an input value, just like the fieldbus 14
baud rate.
15
8606.0 Timeout Unit: ms
Value range: 0 – 500 – 650000, step 10
16
Fieldbus timeout interval.
An error will be triggered after this timeout interval when the fieldbus is interrupted. 17
9729.17 Fieldbus Value range: See parameter 9729.16 Response external error (page 302). 18
timeout response
Fieldbus timeout response.
For a description of the setting options, see parameter "9603.1 PDO timeout response" 19
(page 301).
20
21
22

9 f
i
P Hz
Gateway
period gateway
Value range: 0 – 5000 – 100000000, step 1000
Sync period gateway.
This value is used for transferring the sync signal from the fieldbus to the system bus.
This currently works only with the K-Net fieldbus. If you have any questions, please con-
tact SEW-EURODRIVE.
9879.2 Sync offset Unit: µs

gateway
Value range: 0 – 5000 – 100000000, step 1000
Sync offset gateway.
tact SEW-EURODRIVE.
9879.3 Sync start Value range: See parameter 9877.3 Sync start mode CAN1
mode gateway
Sync start mode gateway.
tact SEW-EURODRIVE.
Synchronization
9836.1 Synchroni- Value range:
zation source
• 0 = No source
• 1 = CAN2
• 2 = CAN1
• 3 = Communication option
If the CAN1 or CAN2 sync mode is set to consumer, then this parameter sets the source
of the sync signal.
9835.1 Time inter- Unit: µs

val between sync
If the axis is the consumer of a sync signal, all incoming signals will be recorded with
signals
respect to time and are displayed here.
9951.4 Time inter- Value range: -2147483648 – 0 – 2147483647, step 1

val between base
For in-house use only!
periods
The time interval between base periods is a display value for internal fault diagnostics
purposes. All other tasks are derived from the base period.

f 9
i
P Hz
9.3.3 IN buffer 1
1242563979 5
IN buffer 0 6
Basic settings
7
9514.1 Data Value range:
source 8
• 0 = No source
• 1 = CAN2
• 2 = CAN1 9
10
The setting in the data source defines the bus system responsible for reading the data.
11
9514.3 Data block The data block start describes from which data block within a message the IN buffer is
start loaded. Whether a value unequal to 0 can be entered depends on the bus system (e.g.
the data block start for CAN is always 0). 12
9514.4 Data block Value range: 0 – 4 – 16, step 1. 13

length
The data block length also depends on the bus system, e.g. for CAN = maximum 4.
14
9514.19 Timeout Unit: µs
interval 15
Value range: 0 – 20000 – 100000000, step 1000.
Timeout interval IN buffer 0. The value 0 deactivates the timeout.
16
9514.5 Update Value range:
• 1 = ON 17
• 0 = OFF
18
The update indicates whether the value in the IN buffer is updated with the values from
the bus or not. This parameter can be used to separate the PDO from the bus.
19
9514.16 Configu- Value range: 0 – 4294967295, step 1
ration error
• 0 = No error 20
The Config error indicates any error.
21
22

9 f
i
P Hz
Specific CAN
parameters
9514.2 Message Value range: 0 – 1073741823, step 1

ID
The message ID is a CAN-specific parameter. It numbers or prioritizes the messages.
9514.14 Data Value range:

acceptance with
• 1 = No
sync.
• 0 = Yes
Here you can set whether the data is transferred to the IN buffer after receiving the first
sync message. This is a CAN-specific parameter.
INFORMATION
When set to "Yes", the sync must be sent exactly as often as the process data.
9514.20 Endian- Value range:

ess IN buffer 0
• 0 = Big Endian
• 1 = Little Endian
This parameter is used to set whether the first of the two bytes from the bus is interpreted
as high byte or low byte.
• Big endian
The first byte of the bus is interpreted as high byte.
• Little endian
The first byte of the bus is interpreted as low byte.
This is a CAN-specific parameter.
Specific communi-
cation option
parameters
9514.18 Address Value range: 0 – 255, step 1.

sender IN buffer 0
This parameter only applies to the K-Net bus system and sets the PDO address.
This parameter is usually set in the PDO Editor.
9514.17 PDO ID Value range: 0 – 255, step 1.

K-Net IN buffer ID 0.

f 9
i
P Hz
Data 1
9754.1 – 16 data Value range: 0 – 65535, step 1. 2

word 0 – 15
Data word 0 – 15 IN buffer 0.
Displays the current data in the IN buffer 0 – 15. 3
IN buffer 1 – 15 See IN buffer 0 (page 309) for a description of the parameter. 4
9.3.4 Control words 0 – 3 5
1242556683
9
9510.1 Actual Displays the actual value of control word 0. 10

value source
11
Control word 0 The control word is the control center that activates or deactivates functions in the axis
module via digital inputs or process data. 12
9512.1 Source Value range:
control word 0
13
• 0 = No source
• 8334 = Standard digital inputs 14
• 75339 = Local control word
• 730515 = Opt 1 DI 15
• 730521 = Opt 2 DI
• Or "IN 0-15" word 0 – 15
16
Several sources can be set for control word 0:
17
• No source
The control word is inactive. 18
• Standard digital inputs
The digital inputs on the basic unit are transferred to the control word. All FCBs 19
1 = active via bus communication (1 on FCB 13 triggers a stop at the application limits).
To implement wire breakage protection via digital inputs, the following FCBs or functions
20
are 0 = active:
• FCB 01 Output stage inhibit
21
• FCB 13 Stop at application limits
• FCB 14 Emergency stop 22
• FCB 15 Stop at system limits

9 f
i
P Hz
• External fault (no FCB but message)

• Limit switch offset (0 on FCB 13 negative triggers a stop at the application limits).
This only applies to the standard digital input source.
• Local control word
Parameter 9803.1 Local value (page 312) specifies the control word.
• Opt 1 DI
If a digital terminal expansion XIO or XIA is plugged in option card slot 1, the control word
is specified by the option.
• Opt 2 DI
If a digital terminal expansion XIO or XIA is plugged in option card slot 3, the control word
is specified by the option.
• IN
If you want to specify the control word via bus, set IN 0 – 15 and word 0 – 15.
9803.1 Local value Value range: 0 – 4294967295, step 1

If the source control word 0 is set to "local control word", this parameter will be control
word 0. Use only for test purposes because the parameter is set to 0 after a reset.
9513.1 Layout Value range:

• 0 = No layout
• 1 = Programmable layout
• 2 = FCB/Instance
• 3 = Programmable layout / FCB / instance
Layout control word 0
• No layout
The control word is inactive.
• Programmable layout
Each bit of the control word is freely configurable.
• FCB/instance
The control word has a fixed assignment. The 8 low bits (low byte) are used for selecting
the FCB and the 8 high bits (high byte) for selecting the instance. See also parameter
"9804.1 Select FCB with instance".
• Programmable layout / FCB / instance
Part of the control word has a fixed assignment. Bits 0 to 4 are freely configurable: Bits
5 to 9 select the FCB. Bits 10 to 15 select the instance.

f 9
i
P Hz
9513.10 Bit 0 Value range: 1

• 0 = No function
• 1 = FCB output stage inhibit 2
• 2 = FCB stop at system limits
3
• 3 = FCB emergency stop
• 4 = FCB stop at application limits
4
• 5 = FCB reference travel
• 7 = FCB jog mode 5
• 8 = FCB hold control
• 9 = FCB brake test 6
• 10 = FCB encoder adjustment
7
• 11 = FCB electronic gear unit
• 12 = FCB electronic cam
8
• 13 = FCB interpolated position control
• 14 = FCB positioning 9
• 15 = FCB interpolated speed control
• 16 = FCB speed control 10
• 17 = FCB interpolated torque control
• 18 = FCB torque control
11
• 20 = FCB rotor position identification
12
• 21 = FCB stop at user limits
• 31 = Limit switch 1 positive 13
• 32 = Limit switch 1 negative
• 33 = External fault 14
• 34 = Fault reset
• 35 = Reference cam 15
• 36 = Parameter selection bit 0
16
• 37 = Parameter selection bit 1
• 38 = IEC input 17
• 39 = Jog negative
• 40 = Jog positive 18
• 41 = Feed enable
• 42 = Accept position 19
• 46 = Limit switch 2 positive
20
• 48 = Limit switch 3 positive
21
• 50 = Start synchronous operation 22
• 51 = Event control FCB reset

9 f
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• 52 = Jog velocity selection

• 53 = Release brake with inhibited output stage
• 54 = Control bit stop with position control
Programmable control word 0 layout bit 0.
Determines the function of bit 0 of control word 0.
• No function
The bit is inactive.
• FCBs
Activating the bit selects the corresponding FCB. The corresponding FCB is active when
"1" is present. The only exception is if digital inputs are the source of the control word.
In this case, the stop FCB 0 will be active for wire break protection. See also parameter
"9512.1 Source control word 0" (page 311).
• Limit switches
Via digital inputs:
Signal 0 → Positive limit switch hit
Signal 1 → Limit switch not approached
Via IN buffer:
Signal 1 → Positive limit switch hit
• External fault
Signal 0 → External fault is present
Signal 1 → External fault not present → enable
• Fault reset
The axis performs a fault reset. A CPU reset, system restart or warm start is performed
depending on the type of the fault. A fault of the type display only (warning) will also be
reset.
• Reference cams
Required for reference travel.
• Parameter selection bit 0
Selecting another parameter set switches to a second or third connected motor. For this
purpose, the motors have to be specified in the startup routine.
Bit 0 = 0 and bit 1 = 0 → no function
Bit 0 = 1 and bit 1 = 0 → motor 1
• Parameter selection bit 1
See parameter selection bit 0
• IEC input
This bit can be used for a higher-level MOVI-PLC® controller.

f 9
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• Jog negative 1
This bit is only active in conjunction with FCB 20 Jog (page 379) active and jogging oc-
curs in the corresponding direction when a "1" is present at the input. 2
• Jog positive
This bit is only active in conjunction with FCB 20 Jog (page 379) active and jogging oc- 3
curs in the corresponding direction when a "1" is present at the input.
• Jog velocity selection 4
Switching between jog speeds 1 and 2.
• Feed enable
5
This bit is only active in conjunction with FCB 09 positioning (page 361). If you have se-
lected feed enable, it must be set to "1" during the entire positioning procedure. Revok- 6
ing feed enable will decelerate the axis using the maximum deceleration of FCB 09 Po-
sitioning (page 361). Another enable continues the positioning travel to the last target 7
using the acceleration specified in FCB 09 Positioning (page 361). Feed enable must be
activated in parameter 9885.1 Use control bit "feed enable" (page 362).
8
• Accept position
This bit is only active in conjunction with FCB 09 Positioning (page 361) and is particu- 9
larly useful for relative operating modes. To trigger positioning, this bit must have re-
ceived a positive edge once. This can be used to relatively synchronize forward without
changing the target. This function is also effective in absolute operating modes. Accept- 10
ing the position must be activated in parameter 9885.2 Control bit "accept position"
(page 362). 11
• Event control FCB reset
This bit resets a FCB selection of event processing for the duration of the bit selection. 12
For information about event control, refer to the MOVIAXIS® technology manual.
This parameter is usually set in the PDO Editor. 13
• Release brake with inhibited output stage
This bit releases the brake within the FCB 01 Output stage inhibit. This function is edge- 14
triggered, i.e. the brake is only released with a positive edge while FCB 01 Output stage
inhibit has already been selected. 15
Exceeding the limit switches is only displayed via software and does not cause the brake
to be applied. 16
9513.xx Bit 1 – 15 See description of parameter 9513.xx Bit 0

17
9510.1 Actual Displays the current control word 0.
value source 18
19
Control word 1 See control word 0 (page 311) for a description of the parameter.
Control word 2 See control word 0 (page 311) for a description of the parameter.
20
Control word 3 See control word 0 (page 311) for a description of the parameter. 21
9.3.5 Error message words

22
Error message words can forward error states across different axes. For example, a
fault in the main drive can cause all auxiliary drives to go to fault status. This is realized

9 f
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via lateral axis communication and is for this reason only possible with the CAN system
bus.
1242556683

error message
• 0 = No source
word 0
• 8334 = Standard digital inputs
• 730515 = Option 1
• 730521 = Option 2
• Or "IN buffer 0 – 15" word 0 –15
9977.1 Response Value range:

error message
• No response
word 0
• Display only
• Emergency stop/waiting
• Stop at system limit/waiting
• System-internal/waiting (no function)
The error message word response defines the response upon receiving an error mes-
sage.
9978.1 Current The error message word is triggered when the high byte of the current value is not equal
value of error mes- to zero. This allows for direct transmission of a status word of another axes with the lay-
sage word 0 out FCB Error code.

f 9
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9.3.6 IN process data 1
1242556683 5
Channel 0 6
9822.1 Source pro- Value range: 7

cess data channel • 0 = No source
0
• 8334 = Standard digital inputs 8
9
• 730515 = Option 1
• 730521 = Option 2
10
• Or "IN buffer 0 – 15" word 0 –15
Source of the IN process data channel 0 11
12
9530.1 Access Value range:
channel 0 32-bit 13
• 0 = 16 bit
• 1 = 32 bit big endian
• 2 = 32 bit little endian 14
IN process data channel 0 access 32 bit.
15
• 16 bit
Access to the value set in parameter 9822.1 Source process data channel 0 (page 317) 16
is transferred.
• 32 bit big endian
17
The access to the value set in parameter 9822.1 Source process data channel 0
(page 317) is accepted as high word (16 high bits) and and source +1 as low word.
18
For example: IN BUFFER 1 set as source.
19
IN process data channel 0 (32 bit))
IN buffer 1 (16 bit) High word | Low word
20
IN buffer 2 (16 bit)
1242559115 21
22

9 f
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• 32 bit little endian

The access to the value set in parameter "822.1 Source process data channel 0"
(page 317) is accepted as low word (16 high bits) and and source +1 as high word.
IN process data channel 0 (32 bit)

IN buffer 1 (16 bit) High word | Low word
IN buffer 2 (16 bit)
1242561547
9531.1 System unit Value range:

channel 0 • 0 = Position
• 1 = Speed
• 2 = Acceleration
• 3 = Torque
• 4 = Non-interpreted
• 5 = System position
The system unit selection has to be set to specify the interpretation of channel 0 (what
numerator/denominator factor should be used) so that the IN process data channels can
be processed as user units in the system.
9876.1 Actual Value range: -2147483648 – 0 – 2147483648, step 1.

value channel 0 The actual value of the IN process data channel 0 has a size of 32 bits in user units.
Channels 1 – 15
9822.2 – 16 Value range: See parameter 9822.1 Source process data channel 0 (page 317).
Source of process
data channel 1
9530.2 – 16 Value range: See parameter 9530.1 Access channel 0 32-bit (page 317).
Access channel
1 – 15 32-bit
9531.2 – 16 Sys- Value range: See parameter 9531.1 Channel 0 system variable (page 318).
tem unit channel
1 – 15
9876.2 – 16 Actual Value range: -2147483648 – 0 – 2147483647, step 1.

value
The actual value of IN process data channel 1 has a size of 32 bits in user units.

f 9
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9.3.7 Status words 0 – 3 1
1242771211 5
Status word 0 6
9511.1 Actual Value range: 0 – 4294967295, step 1.
value
Displays the current value of status word 0. 7
Basic settings 8

9
• 0 = No source
• 1 = System 10
• 2 = Local status word
Several sources can be set for status word 0: 11
• No source
12
The status word is inactive.
• System
13
The status word consists of system variables that are based on the parameter 9856.1
Layout and function (page 320).
14
• Local control word
Parameter 9844.1 Local value (page 319) specifies the status word. 15
16
9844.1 Local value Value range: 0 – 65535, step 1. 17

If the source of status word 0 is set to "local control word", then this parameter is only to
be used for test purposes because the parameter is reset to zero after a reset. 18
19
20
21
22

9 f
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9856.1 Layout Value range:

• 0 = Programmable layout
• 1 = FCB/Instance
• 2 = FCB/error code
• 3 = Programmable layout / error code
Layout status word 0
• No layout
The status word is inactive
• Programmable layout
Each bit of the status word is freely configurable.
• FCB/instance
The status word has a fixed assignment. The 8 low bits (low byte) are used for displaying
the currently active FCB, and the 8 high bits (high byte) are used for displaying the cur-
rently active instance.
• FCB/error code
The status word has a fixed assignment. The 8 low bits (low byte) are used for displaying
the currently active FCB, the 8 high bits (high byte) are used for displaying the present
fault. If the axis is not in fault status, a 0 will be displayed in the upper error byte.
• Programmable layout / error code
The status word only has partial fixed assignment. The lower 8 bits (low byte) are freely
configurable. The upper 8 bits (high byte) have fixed assignment with the error code in
the event of a fault.
Programmable lay-
out
9559.1 Bit 0 Value range:
• 0 = No function
• 1 = Ready
• 2 = Output stage ON
• 3 = Brake released
• 4 = Brake applied
• 5 = Motor standstill
• 6 = Negative limit switch
• 7 = Positive limit switch
• 8 = Drive 1 referenced
• 11 = Active drive referenced

f 9
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• 12 = In position 1
• 13 = Parameter set bit 0
• 14 = Parameter set bit 1 2
• 15 = Setpoints active
3
• 16 = Torque limit reached
• 17 = Current limit reached
4
• 18 = Error IEC control
• 19 = IEC output 5
• 20 = Fault
• 21 = Displayed fault signal 6
• 22 = Fault without immediate controller inhibit
7
• 23 = Fault with immediate controller inhibit
• 24 = FCB speed control active
8
• 25 = FCB interpolated speed control active
• 26 = FCB torque control active 9
• 27 = FCB interpolated torque control active
• 28 = FCB positioning active 10
• 29 = FCB interpolated positioning active
• 30 = FCB electronic gear unit
11
• 31 = FCB hold control active
12
• 32 = FCB jog mode active
• 33 = FCB brake test function active 13
• 34 = FCB calibrate encoder
• 36 = FCB electronic cam active 14
• 37 = FCB output stage inhibit active
• 38 = FCB system stop active 15
• 39 = FCB emergency stop active
16
• 40 = FCB application stop active
• 41 = FCB standard (FCB13) 17
• 42 = STO safe torque off 1
• 43 = STO safe torque off 2 18
• 44 = Motor temperature prewarning (KTY)
• 45 = FCB dual drive active 19
• 46 = External fault reset
20
• 47 = Positive software limit switch
• 48 = Negative software limit switch
21
22

9 f
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• 49 = Process data valid (no function)

• 51 = Brake tested OK
• 52 = Brake tested not OK
• 53 = DI-00 output stage enable
• 54 = FCB 25 rotor position identification active
• 55 = FCB 26 stop at user limits active
• 56 = FCB 26 stop at user limits position controlled
• 57 = Motor commutated
• 58 = 24 V standby operation
• 59 = Process data not ready
Programmable status word 0 layout bit 0.
• No function
The bit is inactive.
• Ready
Signal 0 → The axis is currently not ready for operation. Reasons can be fault states or
operating states outside FCB processing (supply voltage off, power supply module not
ready).
Signal 1: The axis is in FCB processing. If no FCB is selected, the default FCB 13 Stop
at application limits will become active. The 7-segment display will show the number
"13". The "ready" signal alone does not indicate that the axis module is fault-free. The
signals refers to the module itself. Example: When a drive is located at the limit switch,
the axis module signals "ready" although a fault is present.
All faults are "locked" in the final state. See also the operating instructions "MOVIAXIS®
MX Multi-Axis Servo Inverters", chapter "Operating displays and faults".
• Output stage ON
"Output stage enabled" is a subset of "Ready for operation" which is set to "1" in all FCBs
except for FCB 01 Output stage inhibit.
With brakemotors, the output stage is off in stop FCBs 13, 14 and 15 at standstill, which
means the bit is set to "FALSE".
• Brake released
Signal 0 → Brake output activated
Signal 1 → Brake output not activated
• Brake applied
Signal 0 → Brake output not activated
Signal 1 → Brake output activated
• Motor standstill
Signal 0 → Motor is turning
Signal 1 → Motor at standstill
The threshold from which motor standstill is indicated as such is set in the following pa-
rameters:
– 10056.1 Velocity threshold motor at standstill - status bit (page 274)
– 10057.1 Filter time motor at standstill - status bit (page 274)

f 9
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• Limit switch negative 1

Signal 1 → Limit switch hit 2
3
Signal 1 → Limit switch hit
4
• Axis 1 referenced
This bit indicates whether axis 1 (parameter set 1) is referenced. Incremental encoders, 5
resolvers and single-turn Hiperface® encoders lose their reference with each power-off.
Absolute encoders must be referenced only once before use, or after a reset to the de-
livery state (parameter 9727.3 Delivery state d1 (page 399)). An additional function is 6
integrated in motors with Hiperface® encoders. In case of service, a new motor will be
recognized and the referenced bit is reset. 7
This bit indicates whether axis 2 (parameter set 2) is referenced. Incremental encoders, 8
Absolute encoders must be referenced only once before use, or after a reset to the de- 9
livery state (parameter 9727.3 Delivery state d1 (page 399)). An additional function is
recognized and the referenced bit is reset. 10
11
This bit indicates whether axis 3 (parameter set 3) is referenced. Incremental encoders,
Absolute encoders must be referenced only once before use, or after a reset to the de- 12
livery state (parameter 9727.3 Delivery state d1 (page 399)). An additional function is
13
recognized and the referenced bit is reset.
• Active drive referenced
14
This bit indicates whether the active axis is referenced. Incremental encoders, resolvers
and single-turn Hiperface® encoders lose their reference with each power-off. Absolute
encoders must be referenced only once before use, or after a reset to the delivery state 15
(parameter 9727.3 Delivery state d1 (page 399)). An additional function is integrated in
motors with Hiperface® encoders. In case of service, a new motor will be recognized and 16
the referenced bit is reset.
• In position 17
The "In position signal" must only be used in conjunction with FCB 09 Positioning
(page 361). 18
Signal from 0 to 1 → The axis is "In position" when it enters the range defined in param-
eter 9885.3 Window width for in position message (page 363) relative to the specified 19
target. If a travel command was aborted with an FCB changeover but the drive still ar-
rives in the position window by chance, then no "In position" message will be generated.
20
Signal 1 to 1 → The axis loses "In position" when it is outside parameter 9885.3 "Win-
dow width for in position message (page 363) + parameter 9885.4 Hysteresis range
(page 364) relative to the specified target. This prevents the bit from bouncing. 21
The IN position message does not disappear when changing from FCB 09 Positioning
(page 361) as long as you are in the position window + hysteresis. However, the IN po- 22
sition message is only set within FCB09 Positioning (page 361).

9 f
i
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FCB change
When changing to another FCB (e.g. FCB 13 Stop at application limits to activate the
brake), the "In position" message at standstill will not get lost. When re-entering FCB
09 Positioning (page 361), the bit has remained unchanged.
The message is only removed when the position window + hysteresis range is exceeded
relative to the last target. This applies to all FCBs. This means the message can only
be generated within FCB 09 Positioning (page 361). The message is only removed
when the position window + hysteresis range is left regardless of the present FCB.
• Parameter set bit 0
This bit is used for parameter set changeover (see also "Parameter set bit 1").
Bit 0 = 1 and bit 1 = 0 → parameter set 1 active
MOVIAXIS® supports 3 physically connected motors with encoder feedback. For the
second and third motor, an additional "XGS11A or XGH11A encoder card" option is re-
quired each to connect the additional encoder feedback systems. The motor power ca-
bles must be distributed through a changeover switch (not included in the SEW scope
of delivery) to the individual motors. The individual motors/parameter sets must first be
entered in the startup routine.
• Parameter set bit 1
See "Parameter set bit 0"
• Setpoints active
This message is active in all setpoint processing FCBs when setpoints are being pro-
cessed. These are FCB 05 (page 349) – FCB 10 (page 369). The message is set to 0
in all stop FCBs and the default FCB. The message is still 0 during the brake release
time.
• Torque limit reached
This message indicates when the torque limit is reached: 9580.1 System limit maximum
torque (page 279) 9740.4 Application limit maximum torque (page 281) or maximum
torque of the respective FCB.
• IEC control error
This message is in preparation.
• IEC output
This message is in preparation.
• Malfunction
This message is issued when the MOVIAXIS® unit is in fault status. It is not relevant for
the error bit whether the output stage is inhibited immediately or not.
• Displayed fault signal
This signal is a subset of "Fault" and displays fault responses that are configured to "Dis-
play fault". The drive continues to operate normally.

f 9
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• Fault without immediate output stage inhibit 1

This signal is a subset of "Fault" and indicates that the drive can be decelerated using a
ramp (motor does not coast to a stop or mechanical brake is not applied). This bit is also 2
set when "Signal displayed fault".
• Fault with immediate output stage inhibit 3
This signal is a subset of "Fault" and indicates that the motor coasts to a stop or, if in-
stalled, the mechanical brake is applied. 4
• FCBs
The relevant message is set to 1 if the corresponding FCB is active. 5
• Brake tested OK
The FCB has successfully tested the brake and found it to be good according to the 6
basic conditions set in FCB. Also see FCB 21 brake test (page 382).
• Brake tested not OK 7
The FCB brake test has assessed the brake as faulty. The higher-level controller now
decides on the measures to be initiated. Also see FCB 21 brake test (page 382). 8
• Output stage enable DI-00
9
Displays the current status of the terminal DI00.
10
• Motor commutated
Shows whether the motor is commutated or not. In "not commutated" status, the drive 11
cannot be enabled. This bit is only useful for synchronous motors with incremental en-
coders. For absolute encoders, the bit is always set to "TRUE".
12
• 24 V standby operation
Mirrors the bit of the same name in the device status (9702.1 Bit 8) 13
• Process data not ready
Mirrors the bit of the same name in the device status (9702.1 Bit 13) 14
9559.2 – 16 Value range: See parameter "9559.1 Control word 0 bit 0" (page 320). 15
Bit 1 – 15
Programmable status word 0 layout bits 1 – 15.
16
Status word 1 – 3 Description of status words 1 – 3, see status word 0.
17
18
19
20
21
22

9 f
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9.3.8 OUT process data
1242771211
Channel 0
9560.1 System unit Value range:
channel 0
• 0 = No unit
• 1 = Actual speed
• 2 = Position
• 3 = Acceleration
• 4 = Torque
• 5 = Apparent current
• 6 = Active current
• 7 = Net torque
• 8 = Virtual encoder position
• 9 = System position
• No unit
The channel is not assigned.
• Actual speed
Displays the current actual speed in user units.
• Position
Displays the current actual position in user units.
• Acceleration
Displays the current actual acceleration in user units.
• Torque
Displays the currently applied torque in user units.
• Apparent current
Displays the currently flowing output current in A with 3 decimal places.
• Active current
Displays the currently flowing torque current in A with 3 decimal places.

f 9
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• System position 1
Position in increments.
Resolution: 65536/motor revolution. 2
• Modulo position
3
Displays the current modulo position.
• System position encoder 1/2/3
4
Displays the current position of the encoder 1/2/3 in increments.
Resolution: 65536/motor revolution. 5
6
value high word 7
OUT process data buffer (16 bit, high) 0 – 15.
channel 0

8
value low word
OUT process data buffer (16 bit, low) 0 – 15.
channel 0 9
Channels 1 – 15 10
9560.2 – 9560.16 Value range: See parameter "9560.1 System unit channel 0" (page 326).
Channel 1 – 15 System unit OUT process data buffer 1 – 15. 11
system unit
9561.2 – 9561.16 Value range: -32768 – 0 – 32767, step 1.

12
Actual value high OUT process data buffer (16 bit, high) 0 – 15.
word channel 1 – 13
15
14
9562.2 – 9562.16 Value range: -32768 – 0 – 32767, step 1.
Actual value low
OUT process data buffer (16 bit, low) 0 – 15. 15
word channel 1 –
15
16
17
18
19
20
21
22

9 f
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9.3.9 OUT buffer 0 – 7
1242773643
OUT buffer 0
Basic settings
9563.3 Data sink Value range:

OUT buffer 0
• 0 = No sink
• 1 = CAN2
• 2 = CAN1
The data sink is used to set the bus system on which the data is to be written.
9563.5 Data block Data block start describes as of which word data is to be written to the bus. Whether a
start value unequal to 0 can be entered depends on the bus system (e.g. the data block start
for CAN is always 0).
9563.6 Data block Value range: 0 – 4 – 16, step 1.

length
The data block length also depends on the bus system, e.g. for CAN = maximum 4.
9563.16 Config Value range: 0 – 4294967295, step 1.

error
The Config error indicates any error.

f 9
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Specific CAN 1
parameters
9563.4 Message Value range: 0 – 1073741823, step 1. 2
ID
The message ID is a CAN-specific parameter. It numbers or prioritizes the telegrams.
9563.1 Send PDO Value range: 4

after sync.
• 0 = No
• 1 = Yes 5
This parameter allows for cyclical sending of PDOs that will be sent connected to the
sync. For this purpose, parameter 9563.22 Send PDO after n syncs (page 329) needs 6
to know after how many syncs a new PDO is to be sent.
7
9563.17 Blocking Unit: µs
time
Value range: 0 – 100000000, step 1000. 8
This parameter applies in conjunction with parameter 9563.23 Send PDO following
change (page 330); if the PDO changes permanently, the blocking time will still be main- 9
tained cyclically and the PDO will not be sent more often.
9563.21 Endian- Value range: See parameter 9514.20 Endianess IN buffer 0 (page 310). 11
ess This parameter is used to set whether the first of the two bytes from the bus is interpreted
as high or low byte.
12
• Big endian
The first byte is interpreted as high byte. 13
• Little endian
The first byte is interpreted as low byte. This is a CAN-specific parameter. 14
15
9563.2 Send PDO Unit: µs
cyclically Value range: 0 – 65535000, step 1000. 16
This parameter sets the cycle time if the PDO is to be sent cyclically when parameter
9563.23 Send PDO following change (page 330) is set to "No". 17
18
9563.22 Send Value range: 0 – 255, step 1.
PDO after n syncs
See parameter 9563.1 Send PDO after sync (page 329).
19
20
21
22

9 f
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9563.23 Send Value range:

PDO following
• 0 = No
change
• 1 = Yes
The setting "Yes" means PDOs are only sent following a change, see also parameter
9563.17 Blocking time (page 329).
9563.19 Send Value range:

PDO following
• 0 = no RxPDO
change of IN buffer
• 1 = from IN-PDO1
This parameter allows for sending a PDO only if the IN-PDO has changed. Parameter
9563.17 Blocking time (page 329) can be used to prevent that PDOs are sent perma-
nently.
Specific communi-
cation option
parameters
9563.18 PDO ID Value range: 0 – 255, step 1.
This parameter only applies to the K-Net bus system and sets the PDO address.

f 9
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9563.24 Transmis- Value range: 1

sion cycle
• 0 = Bus cycle
• 1 = Gateway cycle 2
In preparation.
3
Data sources
4
9770.1 Data This parameter is usually set in the PDO Editor because of the many setting options. 5
source word 0
6
9864.1 – 9864.16 Value range: 0 – 65535, step 1.
Actual value word 7
Actual data word 0 – 15 OUT buffer 0.
0 – 15
9770.2 – 9770.16 Value range: See parameter 9770.1 Data source word 0 (page 331).
8
Data source word
1 – 15 9
OUT buffer 1 – 7 Description see OUT buffer 0 10
9.3.10 I/O basic unit 11
12
13
14
15
1242776075
16
9585.1 Source Value range: This parameter is usually set in the PDO Editor because of the many set-
ting options. 17
Source of digital outputs of basic unit.
18
8334.0 Actual Actual value of digital inputs.
value digital inputs 19
8349.0 Actual Actual value of digital outputs. 20

value digital out-
puts
21
22

9 f
i
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9.3.11 I/O option 1
1242778507
9619.1 I/O PDO 1 Value range:

slot
• 0 = Not connected
• 1 = Option 1
• 2 = Option 2
• 3 = Option 3
I/O PDO 1 slot.
9619.111 PDO Value range: This parameter is usually set in the PDO Editor because of the many set-
source ting options.
I/O PDO 1 PDO 1 source.
Analog inputs
9619.21 Al0 input Unit: mV
voltage
IO PDO 1 Al0 input voltage.

voltage I/O PDO 1 Al1 input voltage.
9619.22 AI0 offset Unit: mV

Value range: -10000 – 0 – 10000, step 1.
I/O PDO 1 AI0 offset

Value range: -10000 – 0 – 10000, step 1.
I/O PDO 1 AI1 offset.
9619.23 AI0 scal- Value range: 1 – 2097151, step 1.

ing numerator
I/O PDO 1 AI0 scaling numerator.

ing numerator I/O PDO 1 AI1 scaling numerator.

f 9
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9619.24 AI1 scal- Value range: 1 – 2097151, step 1. 1

ing denominator
I/O PDO 1 AI1 scaling denominator.
2
ing denominator 3
9619.25 AI1 scaled I/O PDO 1 AI1 scaled value 32 bit. 4

value 32 bit
5
9619.35 AI1 scaled I/O PDO 1 AI2 scaled value 32 bit.
value 32 bit
6
9619.27 AI1 scaled I/O PDO 1 AI1 scaled value high word.
value high word 7
9619.37 AI2 scaled I/O PDO 1 AI2 scaled value high word. 8
value high word
9
9619.26 AI1 scaled I/O PDO 1 AI1 scaled value low word.
value low word
10
value low word 11
Analog outputs 12
9619.122 AO1 Value range: See parameter 9770.1 Data source word 0 (page 331).
high word source 13
I/O PDO 1 AO1 high word source.
9619.132 AO2 Value range: See parameter 9770.1 Data source word 0 (page 331). 14
high word source
15
9619.121 AO1 low Value range: See parameter 9770.1 Data source word 0 (page 331).
word source 16
I/O PDO 1 AO1 low word source.
9619.131 AO2 low Value range: See parameter 9770.1 Data source word 0 (page 331). 17
word source
18
9619.123 AO1 I/O PDO 1 AO1 actual value 32 bit.
value source 32 bit 19
20
21
22

9 f
i
P Hz

value source 32 bit
9619.124 AO1 Value range: 1 – 2097151, step 1.

scaling to V
I/O PDO 1 AO1 scaling numerator.
numerator

scaling to V
numerator

scaling to V
I/O PDO 1 AO1 scaling denominator.
denominator

scaling to V
denominator
9619.126 AO1 off- Unit: mV

set
Value range: -10000 – 0 – 10000, step 1.
I/O PDO 1 AO1 offset.

set
Value range: -10000 – 0 – 10000, step 1.
9619.127 AO1 out- Unit: mV

put voltage I/O PDO 1 AO1 output voltage.

put voltage
I/O PDO 1 AO2 output voltage.

f 9
i
P Hz
9.3.12 I/O option 2 1
1242778507 5
9625.1 I/O PDO 2 Value range: See parameter "9585.1 Source I/O basic unit" (page 331). 6
slot
I/O PDO 2 slot.
7
9625.111 PDO Value range: This parameter is usually set in the PDO Editor because of the many set-
source ting options.
8
I/O PDO 2 PDO 2 source.
9
Analog inputs
10
voltage
I/O PDO 2 Al1 input voltage.
11
voltage
I/O PDO 2 Al2 input voltage. 12

13
Value range: -10000 – 0 – 10000, step 1.
I/O PDO 2 AI1 offset. 14
9625.32 AI2 offset Unit: mV 15

Value range: -10000 – 0 – 10000, step 1.
I/O PDO 2 AI2 offset. 16
9625.23 AI1 scal- Value range: 1 – 2097151, step 1. 17

ing numerator
18
ing numerator 19
20
21
22

9 f
i
P Hz

ing denominator

ing denominator

value 32 bit

value 32 bit
value high word
value high word
value low word
value low word
Analog outputs
high word source
high word source
word source
word source

value source 32 bit

f 9
i
P Hz
9625.133 AO2 I/O PDO 2 AO2 actual value 32 bit. 1

value source 32 bit
2
scaling to V
I/O PDO 2 AO1 scaling numerator. 3
numerator
9625.134 AO2 Value range: 1 – 2097151, step 1. 4

scaling to V
numerator 5
scaling to V
6
denominator
7
scaling to V 8
denominator
9
set
Value range: -10000 – 0 – 10000, step 1.
10
11
set
Value range: -10000 – 0 – 10000, step 1. 12
13
put voltage I/O PDO 2 AO1 output voltage. 14
9625.137 AO2 out- Unit: mV 15

put voltage
I/O PDO 2 AO2 output voltage.
16
17
18
19
20
21
22

9 f
Encoder parameter description
i
P Hz
9.4 Encoder parameter description

The following encoders can be evaluated using the encoder evaluation function inte-
grated in the MOVIAXIS® basic unit:
• HIPERFACE® encoder
• Sin/cos encoder
• TTL encoder
• Resolver (2 – 12 pole pairs)
With resolvers, sin/cos, and TTL encoders, MOVIAXIS® monitors the failure of track sig-
nals caused by faults or cable problems (amplitude monitoring).
If MOVIAXIS® detects a fault, then both output stage inhibit and brake are activated.
With the "Encoder calibration and adjustment" function, a fixed rotating field space vec-
tor is impressed in the motor. If the rotor aligns itself according to this space vector, the
encoder angle is "0" with the SEW encoder setting.
If this is not the case, the encoder offset can be calibrated with MOVIAXIS® and/or
• entered in the encoder offset parameter,
• the encoder can be aligned accordingly (resolver),
• the encoder offset can be written to the encoder (Hiperface®).
9.4.1 Encoder input of basic unit

9818.34 / 9818.24 Value range: 0 – 232 step 1
/ 9818.20 Encoder
Encoder part number; encoder 1 / encoder 2 / encoder 3
part number /
encoder name The part number of the selected encoder is displayed in parameter 9818.34.
MotionStudio generates the encoder name from this. Non-SEW encoders are assigned
a part number smaller than 8 digits.
9733.1 / 9733.2 / Value range:

9733.3 Encoder
• 0 = No encoder
type
• 1 = RS422
• 3 = Sin/cos XXXS
• 4 = Hiperface® XXXH
• 5 = Resolver RHXX
Type encoder 1 / encoder 2 / encoder 3.
With encoder 1 (encoder input X13 on the axis module), only settings 0 – 5 are possible.
The multi encoder card (MGK) can select all settings except for the resolver (5) setting.

f 9
i
P Hz
9719.1 / 9719.2 / 9 Value range: 2

719.3 Counting
• 0 = Up
direction
• 1 = Down 3
Counting direction encoder 1 / encoder 2 / encoder 3.
The parameter depends on the installation position of the encoder and is independent
4
of the setting of parameter 8537.0 Direction of rotation reversal (page 250). Do not con-
fuse the two parameters. The counting direction of the encoder is reversed which means 5
also the actual values of position, speed and acceleration for this encoder are reversed.
This parameter can be used to support encoders that are installed other than the stan- 6
dard installation. Changing the counting direction generally causes de-referencing of the
drive.
7
The encoder system is initialized again when this parameter is changed.
8
a
t Direction of rotation reversal

8537.0(P1)/
8538.0(P2)/9720.3(P3)
9
P-gain;
P-gain;
Kxn ; 9843.1[1/s]
Kpn ; 9797.1[1/s]
U
+
x + + V
+
PWM
- -
Time constant Integrator;
off
W
M 10
Tin; 9799.1[ms]
on
Counting direction encoder 1 A

9719.1 Motor
11
off
Speed off encoder 1
calculation B
on
Act. position source

9744.1/2/3
9719.2
12
Actual posistion; 10068.1 [1/65536U] A
Actual position; 9704.1 [customized] off Distance
encoder 2
B
on

13
9719.3 A
off Distance
on
B
encoder 3
14
4038387851
15
• Setting the parameter 16

The following notes for setting the parameters apply provided that parameter 8537.0 Di-
rection of rotation reversal (page 250) is set to "OFF". If the parameter for changing the
17
direction of rotation is set to "ON", the direction of rotation of the motor shaft is inverted.
• Setting for rotary motors
18
– If the encoder provides a positive increasing position when the motor shaft turns
in CW (right) direction (SEW definition as viewed onto the motor shaft), then the
counting direction must be set to "UP" (default setting). 19
– If the encoder provides a negative decreasing position when the motor shaft turns
in CW (right) direction, then the counting direction must be set to "DOWN". 20
21
22

9 f
i
P Hz
• Setting for linear motors

– If the encoder provides a positive increasing position when the motor moves in a
positive direction (SEW definition: first movement for commutation travel accord-
ing to configuration of the motor), the counting direction must be set to "UP" (de-
fault setting).
– If the encoder provides a negative increasing position when the motor moves in
a positive direction (SEW definition: first movement for commutation travel ac-
cording to configuration of the motor), the counting direction must be set to
"DOWN" (default setting).
9749.11 / 9749.12 / Value range:

9749.13 Encoder
• 0 = Off
monitoring
• 1 = On
Monitoring encoder 1/2/3.
• SIN/COS signal:
The C track is not monitored for MOVIAXIS®.
Monitoring responds when the amplitude falls below 10% of the measuring range. Wire
break monitoring is not completely possible when the motor is at standstill. The error cri-
terion is not fulfilled if the undamaged track has a high positive or negative value. Mon-
itoring will always trigger if both tracks are damaged.
• TTL signal:
The track signals are monitored by measuring the differential voltages of the two tracks
A and B.
When the motor is at standstill, wire break monitoring is not possible if only one wire pair
of a track is damaged.
• Hiperface® signal:
During operation, a positioning request is sent to the Hiperface® encoder every second.
The position value in the response message is compared with a TTL track signal. If the
position deviates by more than 20 increments, an error ("error 15") will be issued. The
encoder status is queried after every position request (see section "Encoder status"
(page 343)).
A check is still made to assess whether an encoder is physically present when the en-
coder setting "0 = OFF".

f 9
i
P Hz
9593.1 / 9593.2 / Value range: 0 – 1024 – 2147483647, step 1. 1

9593.3 Numerator
Numerator factor encoder 1 encoder 2 / encoder 3.
factor
Numerator / denominator factor 2
This factor determines the encoder resolution. Enter the value in parameter 9733.1 En-
coder type (page 338): 3
• Encoder (encoder type = 1, 3, 4)
4
Factor numerator encoder 1 Encoder resolution
=
Factor denominator encoder 1 Revolution 5
1243032843
Example: SinCos AS1H encoder 6

Numerator factor encoder 1 = 1024
7
Denominator factor encoder 1 = 1
8
• Resolver (encoder type = 5)
9
Factor numerator encoder 1 Pole pair number resolver
=
Factor denominator encoder 1 1
10
1243035275
Example: Resolver, number of pole pairs = 1 11

Denominator factor encoder 1 = 1 12
• Linear motor (encoder type = 1, 3, 4)

13
Factor numerator encoder 1 Signal period [mm] 14

=
Factor denominator encoder 1 Pole pair width [mm]
1243037707 15
Example: AL1H (Lincoder, signal period 5 mm), with SL2 motor (pole distance
32 mm) 16
17
Denominator factor encoder 1 = 5
9593.10 / 9593.11 / Value range: 1 – 2147483647, step 1. 18

9593.12 Denomi-
Denominator factor encoder 1 / encoder 2 / encoder 3.
nator factor 19
See parameter 9593.1 Numerator factor (page 341).
20
21
22

9 f
i
P Hz
9828.2 / 9828.3 Value range: 0 – 1024 – 2147483647, step 1.

Numerator emula-
Numerator emulation encoder 2 / encoder 3.
tion
9829.2 / 9829.3 Value range: 1 – 2147483647, step 1.

Denominator emu-
Denominator emulation encoder 2 / encoder 3.
lation
9.4.2 Position mode settings

9998.1 / 9998.2 / Value range:
9998.3 Position
• 0 = Without overflow counter
mode
• 1 = With overflow counter
Position mode
The reset behavior of parameter 9998.1 Position mode in conjunction with absolute en-
coders depends on the following settings:
• If set to "without overflow counter", the unit will always be positioned in the abso-
lute range of the encoder following a CPU reset and system restart, e.g. with
Hiperface® 4096 motor revolutions. This means a position loss in the event of an en-
coder overflow. If the position range of the absolute encoder is not exceeded, no ref-
erence travel is required when replacing MOVIAXIS® because no overflows can be
stored in MOVIAXIS®. Reference travel is only required when the motor is replaced.
With this setting, parameter 9999.11 Relative position of reference point (page 342)
must be set.
• When set to "With overflow counter", the complete ± 32768 motor revolutions are
utilized despite overflow. MOVIAXIS® stores absolute encoder overflows internally.
This also functions when the axis is moved to overflow without electrical current. This
is ensured by checking the travel range. Reference travel must always be performed
when replacing MOVIAXIS® or the motor.
The maximum target position must not exceed the total from the current target posi-
tion ±16000 revolutions.
9999.11 / 9999.12 / Value range: 0 – 50000 – 100000, step 1.

9999.13 Relative
Relative position of reference point encoder 1/2/3.
position of the ref-
erence point The parameter is required if parameter 9998.1 Position mode (page 342) is set to "with-
out overflow counter".
With parameter Relative position of reference point, the position of the reference point
(e.g. reference cam) should be specified in relation to the required total travel range in
percent.
The valid travel range depends on the absolute encoder range and the relative position
of the reference point.

f 9
i
P Hz
Leaving the valid travel range is reported for MOVIAXIS® units supplied by 24 V. 1
• Required travel range < 50% absolute encoder range:
You can use the default setting (50%) if the required travel range is less than half the 2
absolute range of the encoder.
• Required travel range < 50% absolute encoder range: 3
If the reference point is located within the first quarter of the travel distance, then the
value should be set to 25%. Never set the value to 0% or 100% even if the reference 4
point is located at the beginning/end of the travel distance as this might result in travel
range monitoring errors. In this case, the values should be set to 5% or 95%. 5
9.4.3 Actual values 6

9596.1 / 9596.2 / Reference status encoder 1/2/3.
9596.3 Referenced Encoder status bit 7 indicates whether an encoder is referenced or not. This value is 7
(encoder status read only and is set when reference travel is complete. The status bit is cleared when
bit 7) 24 V supply is off and no multi-turn encoder is used.
8
The status is also cleared in the event of write access to parameters that have an influ-
ence on the positions.
9
These are:
• Encoder type 10
• Direction of rotation of the motor
• Counting direction of the encoder 11
• Machine zero offset
• Position detection mode (encoder referencing only for multi-turn absolute encoder)
12
• Position offset (only if position detection mode 1 is active and the encoder is a multi-
turn absolute encoder). 13
• Numerator factor (system unit) / denominator factor (system unit)
14
• Numerator factor (system unit) / denominator factor (system unit) for encoder emu-
lation
15
• Numerator factor (user unit) / denominator factor (user unit)
• Modulo overflow / underflow value
16
• All SSI setting parameters and Endat setting parameters.
17
18
19
20
21
22

9 f
i
P Hz
9595.1 / 9595.2 / 9 Value range: 0 – 1 – 7, step 1.

595.3 Connected
Parameter set selection for encoder 1/2/3.
to drive no.
This parameter is used to assign a parameter set number to encoder 1/2/3. This means
that the user unit for this encoder information is also defined.
INFORMATION
The parameters 9744.1/2/3 Actual position source (page 345) and 9597.1/2/3 Actual
speed source (page 345) can only be switched to the encoder that was assigned to
the parameter set here.
9782.1 / 9782.2 / Value range: 0 – 4294967295, step 1.

9782.3 Encoder
Encoder identification of encoder 1/2/3.
identification
With Hiperface® encoders, the encoder identification is read from the electronic name-
plate.
The number identifies the encoder type and is described in the Hiperface® documenta-
tion from SICK Stegmann.
9751.11 / 9751.12 / Value range: -2147483648 – 0 – 2147483647, step 1.

9751.13 Machine
Zero point correction encoder 1/2/3.
zero offset
When using multi-turn encoders, another offset value (machine zero offset) has to be
calculated and stored non-volatile after referencing. This offset allows for recovering all
positions after a power failure. No reference travel is necessary in this case.
The controller sets this parameter by itself during referencing.
9704.1 Actual posi- Displays the actual position in user units for the position controller.
tion Is suited for output in the scope but is not consistent with the motor control parameters.
Corresponds to parameter 9704.2/3 or 4 according to which encoder was switched with
parameter 9744.1 Source actual position (page 345) for the position controller.
10444.1 / 10444.2 Displays actual position of encoder 1/2/3 in system units.

/ 10444.3 Actual Is suited for output in the scope but is not consistent with the motor control parameters.
position
9704.2 / 9704.3 / Display of actual position of encoder 1/2/3 in user units.

9704.4 Actual posi-
Is suited for output in the scope but is not consistent with the motor control parameters.
tion

f 9
i
P Hz
9839.2 / 9839.3 / Value range: -2147483648 – 0 – 2147483647, step 1. 1

9839.4 Actual posi-
Display of modulo position encoder 1/2/3 in user units.
tion modulo
The display is filtered in MotionStudio. 2
9744.1 / 9744.2 / Value range: 3

9744.3 Actual posi-
• 0 = No encoder
tion source 4
• 1 = Encoder 1
• 2 = Encoder 2
5
• 3 = Encoder 3
Actual position source P1/P2/P3. 6
This parameter is used to select the encoder that provides the actual position informa- 7
tion for the position controller of the motor control.
The source of the actual position can also be switched to another source during con- 8
troller enable.
Only the encoder assigned to the parameter set number can be chosen as source. 9
This is verified as long as the controller is enabled.
See also parameter 9595.2 Connected to drive no. (page 344). 10
9597.1 / 9597.2 / Value range: 11

9597.3 Actual
• 0 = No encoder
speed source
• 1 = Encoder 1 12
• 2 = Encoder 2
13
• 3 = Encoder 3
Actual speed source P1/P2/P3. 14
This parameter is used to select the encoder that provides the information for the speed 15
controller, current controller and commutation of the motor control.
The source of the actual speed cannot be switched to another source during controller 16
enable.
Only the encoder assigned to the parameter set number can be selected as source. 17
This is verified when activating controller enable.
See also parameter 9595.2 Connected to drive no. (page 344). 18
19
20
21
22

9
346
i
position
kVA
f
P Hz
n
10068.1 Actual
1243116939
Actual speed source; 9597.1/2/3

Actual speed in system units, unfiltered;

G1
9778.1[1/min*10-3] ;nist Display of actual position encoder 1 in
Speed Encoder for actual speed G2 Encoder 1 user-defined units; 9704.2 [AE]
Rotor angle; 9747.1[1/2 32*U] Position (encoder type;
calculation detection G3 9733.1)
Encoder for actual position
Display of actual position encoder 2 in
G1 Encoder 2 user-defined units; 9704.3 [AE]
(encoder type;
G2 9733.2)
G3
Display of actual position encoder 3 in
Actual position in increments; 10068.1 [1/65536U] Actual position source; 9744.1/2/3 Encoder 3 user-defined units; 9704.4 [AE]
Actual position; 9704.1[customized] (encoder type;
9733.2)
Updated only every second.

Actual position encoder 1; 10444.1 [incr]
Displays the actual position of motor control for the position controller.
Is suited for output in the scope and is consistent with the motor control parameters.

Parameter description FCB parameter setting
f 9
i
P Hz
9.5 Parameter description FCB parameter setting 1

9.5.1 FCB Function Control Block
2
The term "FCB concept" describes the modular firmware design of MOVIAXIS®. This
feature ensures that a wide range of functions can be selected or deselected quickly and
easily using control words without having to perform any programming. 3
All primary functions, i.e. functions that move or control the motors, are designed as in-
dividual FCBs that only have to be selected, for example, to perform positioning tasks. 4
The user can switch between FCBs at any time depending on the requested function.
5
9.5.2 Basic settings
9702.3 Current Currently active FCB number. 6
FCB
7
9702.6 Current Currently active FCB instance.
FCB instance 8
9804.1 Select FCB Low word definition (bits 0-15)

9
with instance • 00 = FCB 00 Standard
• 01 = FCB 01 Output stage inhibited 10
• 05 = FCB 05 Speed control (page 349)
• 06 = FCB 06 Speed control interpolated (page 352) 11
• 07 = FCB 07 Torque control (page 358)
12
• 08 = FCB 08 Torque control interpolated (page 359)
• 09 = FCB 09 Position control instance 00 (page 361)
13
• 10 = FCB 10 Interpolated position control (page 369)
• 11 = Not assigned 14
• 12 = FCB 12 Reference travel (page 371)
• 13 = FCB 13 Stop 15
• 14 = FCB 14 Emergency stop
• 15 = FCB 15 Stop at system limits
16
• 16 = FCB 16 Electronic cam
17
• 17 = FCB 17 Electronic gear unit
• 18 = FCB 18 Encoder adjustment (page 371) 18
• 19 = FCB 19 Hold control
• 20 = FCB 20 Jog mode (page 379) 19
• 21 = FCB 21 Brake test function (page 382)
• 22 = FCB22 Multi-drive 20
• 25 = FCB25 Rotor position identification
21
• 26 = FCB26 Stop at user limits
22

9 f
i
P Hz
High word definition (bits 16 – 31).

Instance 0 - 63 is selected in the high word.
Direct selection of FCB number and FCB instance.
This parameter is one of several ways to select an FCB or instance. If several FCBs are
selected at the same time, the FCB with highest priority will be activated.
The FCBs have the following priorities (starting with the highest priority):
• FCB 01 Output stage inhibited
• FCB 15 Stop at system limits
• FCB 14 Emergency stop
• FCB 13 Stop at application limits
• FCB 18 Encoder adjustment (page 371)
• FCB 25 Rotor position identification (page 391)
• FCB 12 Reference travel (page 371)
• FCB 20 Jog mode (page 379)
• FCB 19 Hold control
• FCB 21 Brake test function (page 382)
• FCB 22 Multi-drive (page 385)
• FCB 17 Electronic gear unit – see "Technology functions" manual
• FCB 16 Electronic cam – see "Technology functions" manual
• FCB 10 Interpolated position control (page 369)
• FCB 09 Position control (page 361)
• FCB 06 Interpolated speed control (page 352)
• FCB 05 Speed control (page 349)
• FCB 08 Interpolated torque control (page 359)
• FCB 07 Torque control (page 358)
• FCB 26 Stop at user limits (page 396)
• FCB 00 Standard (-> FCB 13 Stop at application limits)
If two instances are selected at the same time, the higher instance will be activated.
The following FCBs can be assigned to an instance:
• FCB 09 Positioning (page 361)
• FCB 05 Speed control
• FCB 07 Torque control
This parameter is reset to FCB 00 Standard at a CPU reset or system restart, which is
equivalent to FCB 13 Stop at application limits. During a warm start, the previous param-
eter setting is maintained.

f 9
i
P Hz
9982.11 Stop FCB Value range: 0 – 3 1

initialization
This parameter influences the jerk limitation for a transition to one of the stop FCBs 13
/ 14 / 15 / 26. 2
• Acceleration = 0
When switching over to a stop FCB from a speed higher than zero, the jerk limitation is 3
set up anew, i.e. the current acceleration or deceleration becomes zero. Depending on
the extent of the set jerk limit, the deceleration is set anew. This behavior results in a 4
longer braking distance and can only be set for compatibility reasons. During an initial
startup, select the setting "current acceleration".
5
• Aktuelle Beschleunigung = 3
When switching over to a stop FCB from a speed higher than zero, the jerk limitation is
6
not set up anew, i.e. the current deceleration is forwarded to the selected stop FCB. De-
celeration ramps are not interrupted and braking distances are not extended.
This setting must be selected for every initial startup.
7
8
9.5.3 FCB 05 Speed control
MOVIAXIS® can be run as a speed-controlled axis.
9
The user can specify limit values for acceleration, deceleration and jerk as the basic con-
ditions for speed control. The actual speed setpoint for the drive controller is generated
in the controller cycle by a ramp generator integrated in MOVIAXIS® using the specified
10
limit values.
You can configure several data sets (instances - and therefore various speed setpoints) 11
for the "Speed control" function. You can switch between the instances using process
data or parameter access. 12
In this way, for example, a process, in which speed controllers with different settings are
used, is simple to implement using the instance switchover function. 13
14
15
16
17
18
19
20
21
22

9 f
i
P Hz
Setpoints
9598.1 / 10440.1 Value range:
Velocity setpoint
• 0 = Local setpoint
source
• 1 = Process data buffer channel 0
This parameter sets the source for the setpoint speed of FCB speed control.
If the parameter is set to "Local setpoint", the setpoint source will be parameter 9598.2
Local velocity setpoint (page 350).
9598.2 / 10440.2 Unit: 10-3 rpm.

Local velocity set-
Value range: -10000000 – 0 – 10000000, step 1.
point
If the parameter 9598.1 Velocity setpoint source (page 350) is set to "Local setpoint",
this parameter will be the setpoint speed for FCB 05 Speed control (page 349).
Limit values
9598.3 / 10440.3 Value range: See parameter 9598.1 Velocity setpoint source (page 350).
Torque limit source
This parameter sets the source for the torque limit of FCB speed control.
If the parameter is set to "Local setpoint", the torque limit will be parameter 9598.4 Local
torque limit (page 350).
9598.4 / 10440.4 Unit: %.

Local torque limit Resolution: 10-3.
setpoint
Value range: 0 – 10000 – 1000000, step 1.
If parameter 9598.3 Torque limit source (page 350) is set to "local setpoint", this param-
eter will be the torque limit for FCB 05 Speed control (page 349).

f 9
i
P Hz
9598.5 / 10440.5 Value range: See parameter 9598.1 Velocity setpoint source (page 350). 1
Acceleration
This parameter sets the source for the acceleration of FCB speed control.
source
If the parameter is set to "Local setpoint", the acceleration ramp will be parameter 2
9598.6 Acceleration local (page 351).
3
-2
9598.6 / 10440.6 Unit: 10 /min×s.
Local acceleration 4
Value range: 0 – 300000 – 2147483647, step 1.
setpoint
If parameter 9598.5 Acceleration source (page 351) is set to "local setpoint", this param-
eter will be the acceleration ramp for FCB 05 Speed control (page 349). 5
Deceleration
This parameter sets the source for the deceleration of FCB speed control.
source
If the parameter is set to "Local setpoint", the deceleration ramp will be parameter 7
9598.8 Deceleration local (page 351).
8
9598.8 / 10440.8 Unit: 10-2/min×s.
Local deceleration
setpoint
Value range: 0 – 300000 – 2147483647, step 1. 9
If parameter 9598.7 Deceleration source (page 351) is set to "local setpoint", this param-
eter will be the deceleration ramp for FCB 05 Speed control (page 349). 10
Jerk source This parameter sets the source for the maximum jerk of FCB speed control.
If the parameter is set to "local setpoint", the maximum jerk will be parameter 9598.10 12
Local jerk (page 351).
13
9598.10 / Unit: 1/(min×s2).
10440.10 Local
Value range: 0 – 2147483647, step 1. 14
jerk setpoint
If parameter 9598.9 Jerk source (page 351) is set to "local setpoint", this parameter will
be the maximum jerk for FCB 05 Speed control (page 349). 15
Actual values
16
9703.1 / 10120.1 Unit: 10-3/min
Velocity
Current actual velocity (in user units, filtered for display). 17
18
19
20
21
22

9 f
i
P Hz
9.5.4 FCB 06 Interpolated speed control

FCB 06 interpolated speed control is used for cyclic preselected speed setpoints of
higher-level controllers. The higher-level controller is responsible for the following limits:
• Jerk
• Acceleration
• Speed.
Only the speed and torque system limits take effect in MOVIAXIS®.
Prerequisite is a synchronized bus system. This means that incoming process data has
a fixed time reference for the control system of the axis.
The new process data is sent within a fixed cycle time. This time must be a multiple of
the cycle time of the speed control loop (parameter 9821.1 Scanning frequency n/X con-
trol (page 259); 250 µs, 500 µs or 1 ms).
MOVIAXIS® now has the task of forwarding the incoming speed setpoints with a rough
time reference to the speed controller that operates with the shortest time reference. In-
termediate values must be interpolated for this purpose. The setpoint flow is delayed by
one communication cycle to carry out this interpolation.
The incoming position over two process data is interpreted in user units.
General parame-
ters
9963.1 Controller Unit: µs
setpoint cycle
The setpoint cycle of the controller indicates the time intervals used by the higher-level
controller to send speed setpoints. The time intervals must be a multiple of the cycle time
of the speed control loop (parameter 9821.1 Scanning frequency n/X control
(page 259)).
Setpoints
9965.1 Speed set- This parameter sets the source for the speed setpoint of FCB 06 Interpolated speed con-
point source trol (page 352).
If the parameter is set to "local setpoint", the source will be parameter 9965.2 Local
speed setpoint (page 352).
9965.2 Local Unit: 10-3/min

speed setpoint
Value range: -10000000 – 0 – 10000000, step 1.
If parameter 9965.1 Speed setpoint source (page 352) is set to "local setpoint", this pa-
rameter will be the speed setpoint for FCB 06 Interpolated speed control (page 352).

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Limit values 1
9965.5 Torque limit Value range:
mode 2
• 0 = 1 channel
• 1 = 2 channels
3
• 2 = 4 channels
The following modes can be set for limiting the torque:
4
• 0 = 1 channel
A limit value for all quadrants of the N-M diagram (parameter 9965.6 Torque limit Q1 5
abs. source (page 354)).
6
Mlimit
Source:
Local limit:
P 9965.6
P 9965.7
7
Mmax
2. quadrant: n < 0, M > 0 1. quadrant: n > 0, M > 0

nactual
9
3. quadrant: n < 0, M < 0 4. quadrant: n > 0, M < 0
10
Source: P 9965.6
Mmin 11
Local limit: -P 9965.7
12
1243119883
• 1 = 2 channels
13
One value each for regenerative and motor range (parameter 9965.6 Torque limit Q1
abs. source (page 354) and parameter 9965.8 Torque limit Q2 abs. source 14
(page 354)).
Mlimit
15
16
Source: P 9965.8
Local limit: P 9965.9
Source: P 9965.6
Mmax 17

nactual
18
19
Source: P 9965.6
Local limit: -P 9965.7
Source: P 9965.8
Local limit: -P 9965.9 20
Mmin
21
1243122315
22

9 f
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• 2 = 4 channels
Every quadrant, whether regenerative, motor, positive or negative direction of rota-
tion receives its own limit value.
Mlimit
Source: P 9965.6
Local limit: P 9965.7 Mmax
Source: P 9965.8

nactual
Source: P 9965.12
Mmin
Source: P 9965.10
Same slope !
1243274123
9965.6 Abs. Value range: see parameter 9598.1 Velocity setpoint source (page 350) FCB Speed
source torque limit control.
Q1
This parameter sets the source for the torque limit of the 1st quadrant (positive direction
of rotation, motor mode) of FCB 06 Interpolated torque control (page 352).
If the parameter is set to "local setpoint", the source will be parameter 9965.7 Torque
limit Q1 abs. local (page 354).
9965.7 Abs. local Unit: %

torque limit Q1 Resolution: 10-3.
Value range: 0 – 10000 – 1000000, step 1.
If the parameter 9965.6 Torque limit Q1 abs. source (page 354) is set to "local setpoint",
this parameter will be the torque limit for FCB 06 Interpolated speed control (page 352)
in the relevant quadrant.
Q2
This parameter sets the source for the torque limit of the 2nd quadrant (negative direc-
tion of rotation, motor mode) of FCB 06 Interpolated speed control (page 352).

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9965.9 Abs. local Unit: % 1

torque limit Q2 -3
Resolution: 10 .
Value range: 0 – 10000 – 1000000, step 1. 2
If the parameter 9965.8 Torque limit Q2 abs. source (page 354) is set to "local setpoint",
this parameter will be the torque limit for FCB 06 Interpolated speed control (page 352) 3
in the relevant quadrant.
4
5
Q3
This parameter sets the source for the torque limit of the 3rd quadrant (negative direction
of rotation, regenerative operation) of FCB 06 Interpolated speed control (page 352).
6
7
torque limit Q3 8
Resolution: 10-3.
Value range: 0 – 10000 – 1000000, step 1.
9
If the parameter 9965.10 Torque limit Q3 abs. source (page 355) is set to "local set-
point", this parameter will be the torque limit for FCB 06 Interpolated speed control
(page 352) in the relevant quadrant.
10
9965.12 Abs. Value range: see parameter 9598.1 Velocity setpoint source (page 350) FCB Speed 11
Q4 12
This parameter sets the source for the torque limit of the 4th quadrant (positive direction
of rotation, regenerative operation) of FCB 06 Interpolated speed control (page 352).
If the parameter is set to "Local setpoint", the source will be parameter 9965.13 Torque 13
14
torque limit Q4
Resolution: 10-3. 15
Value range: 0 – 10000 – 1000000, step 1.
If the parameter 9965.12 Torque limit Q4 abs. source (page 355) is set to "local set- 16
point", this parameter will be the torque limit for FCB 06 Interpolated speed control
(page 352) in the relevant quadrant. 17
18
19
20
21
22

9 f
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9965.16 Positive • 0 = Center

transition mode
• 1 = Motoring operation
• 2 = Regenerative operation
The transition cannot take place suddenly between quadrants 1 and 2, or 3 and 4. For
this reason, a linear transition is used with the slope of the P-component of the speed
controller, see equation on the next page.
The transition will usually take place between quadrants 1 and 2, or 3 and 4 with speed
0. The effective limit torque for speed 0 is the average of the set limit torques of the ad-
jacent quadrants (central transition mode and transition speed 0).
It may be required not to place the transition in the center with speed zero. In this case,
the speeds can be set using parameters for which the limit torques merge. Parameter
9965.14 Transition speed positive (page 357) defines the transition speed for the posi-
tive torque limit, which means between quadrants 1 and 2. Parameter 9965.15 Transi-
tion speed negative (page 358) is used to set the transition speed for the negative torque
limit between quadrants 3 and 4.
The specified transition speed can refer to the center of the transition area or to the
motor or generative transition point of the transition area. Parameter 9965.16 Transition
mode positive determines the mode for the transition of the positive torque limit between
quadrants 1 and 2. 9965.17 Transition mode negative (page 357) refers to the transition
between quadrants 3 and 4.
You can leave one of the two transition points at a specified speed by changing the
amount of the torque limits and the resulting change of width of the transition area.
Msetpoint,b
M2a = MGen_a Δn
M2 = MGen
ΔM
M1 = Mmot
Transition speed
9965.14 / 9965.15
n
Transition mode positive = "central"
1243278347

f 9
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When increasing from M2 to M2a, the transition line moves up (∆n becomes larger), 1
while the slope remains the same.
Msetpoint,b 2
M2a = MGena Δn
3
M2 = MGen
4
ΔM
5
M1 = Mmot 6
Transition speed
9965.14 / 9965.15
7
8
Transition mode positive = "motive" n
9
1243280779
When increasing from M2 to M2a, only the transition curve is extended (∆n also be- 10
comes larger) while the slope remains the same.
Calculating ∆n: 11
(M1 - M2) × Z × Mmotor_nominal
Δn = N × 200× π × J × P 12
total gain
1243308811
13
M1 = Parameter 9965.6 Torque limit Q1 abs. source (page 354) or parameter
9965.12 Torque limit Q4 abs. source (page 355) taking account of decimal
places. 14
M2 = Parameter 9965.8 Torque limit Q2 abs. source (page 354) or parameter
9965.10 Torque limit Q3 abs. source (page 355) taking account of decimal
places. 15
Z = Parameter 9556.1 Torque numerator (page 285) (conversion of user units to
nominal motor torque)
MMotor_nom = Parameter 9610.1 Nominal motor torque (page 263) 16
N = Parameter 9557.1 Torque denominator (page 286) (conversion of user units to
nominal motor torque)
Jtot = Parameter 9817.1 Total moment of inertia (page 262) 17
PGain = Parameter 9797.1 P-gain speed controller (page 259)
18
9965.14 Positive Unit: 10-3/min
transition speed
Value range: -10000000 – 0 – 10000000, step 1. 19
Positive transition speed (quadrants 1 and 2).
20
9965.17 Negative Value range: See parameter 9965.16 Positive transition mode (page 356).
transition mode
Negative transition mode (quadrants 3 and 4). 21
22

9 f
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9965.15 Negative Unit: 10-3/min

transition speed
Value range: -10000000 – 0 – 10000000, step 1.
Negative transition speed (quadrants 3 and 4).
Actual values
9703.1 Velocity Unit: 10-3/min
Current actual velocity; in user units, filtered for display.
9.5.5 FCB 07 Torque control

MOVIAXIS® can be run as a torque-controlled axis.
The user can specify limit values for speed, acceleration and jerk as the basic conditions
for torque control. The actual torque setpoint for the drive controller is generated in the
controller cycle by a ramp generator integrated in MOVIAXIS® using the specified limit
values.
The maximum speed can be limited during torque control. The speed limit can be
changed dynamically using process data.
Setpoints
9599.1 / 10441.1 Value range: see parameter 9598.1 Velocity setpoint source (page 350) FCB Speed
Torque setpoint control.
source
This parameter sets the source for the setpoint torque of FCB torque control.
torque setpoint (page 358).
9599.2 / 10441.2 Unit: %

Local torque set- Resolution: 10-3.
point
Value range: -1000000 – 0 – 1000000, step 1.
If parameter 9599.1 Torque setpoint source (page 358) is set to "local setpoint", this pa-
rameter will be the torque setpoint for FCB 07 Torque control (page 358).
Limit values
Source velocity control.
limit
This parameter sets the source for the velocity limit of FCB 07 Torque control
(page 358).
If the parameter is set to "local setpoint", the torque limit will be parameter 9599.4 Local
velocity limit (page 359).

f 9
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9599.4 / 10441.4 Unit: 10-3 rpm. 1

Local velocity limit
If parameter 9599.3 Velocity limit source (page 358) is set to "local setpoint", this param- 2
eter will be the velocity limit for FCB 07 Torque control (page 358).
3
Jerk source control. 4
This parameter sets the source for the maximum jerk of the FCB 07 Torque control
(page 358).
5
If the parameter is set to "local setpoint", the maximum jerk will be parameter 9599.6
Local jerk (page 359).
6
9599.6 / 10441.6 Unit: 1/(min×s2).
Local jerk 7
Value range: 0 – 2147483647, step 1.
If parameter 9599.5 Jerk source (page 359) is set to "local setpoint", this parameter will 8
be the maximum jerk for FCB 07 Torque control (page 358).
Actual values
9
9985.1 Torque Unit: %
user unit 10
Resolution: 10-3.
Value range: -2147483648 – 2147483647, step 1. 11
Current torque; in user units, filtered for display.
12
9.5.6 FCB 08 Interpolated torque control
For applications with a higher-level (motion control) controller, this controller usually cal- 13
point (position, speed, torque) that it has to follow. MOVIAXIS® only limits the setpoints 14
using the unit's internal system limits. The application limits for speed, acceleration and
jerk must be taken from the track curve and are then controlled by the controller.
15
spond with the setpoint processing cycle of MOVIAXIS® (500 µs). If MOVIAXIS® were
to "see" the same controller setpoint for several cycles, a step-shaped actual torque 16
value would result. To prevent this from happening, the axis can calculate intermediate
values (interpolate) if it knows the controller cycle – interpolated speed control.
17
MOVIAXIS® can be set to different cycles of higher-level controllers.
The FCB 08 interpolated torque control is used for cyclic preselected speed setpoints of
higher-level controllers. The higher-level controller is responsible for the following limits:
18
• Jerk
19
• Acceleration
• Speed. 20
21
22

9 f
i
P Hz
Only the speed and torque system limits take effect in MOVIAXIS®. Prerequisite is a
synchronized bus system. This means that incoming process data has a fixed time ref-
erence for the control system of the axis.
trol (page 259); 250 µs, 500 µs or 1 ms).
MOVIAXIS® now has the task of forwarding the incoming torque setpoints with a rough
time reference to the speed controller that operates with the shortest time reference. In-
termediate values must be interpolated for this purpose. The setpoint flow is delayed by
one communication cycle to carry out this interpolation.
General parame-
ters
setpoint cycle
controller to send torque setpoints. The time intervals must be a multiple of the cycle
time of the speed control loop (parameter 9821.1 Scanning frequency n/X control"
(page 259)).
Setpoints
9964.1 Torque set- Value range: see parameter 9598.1 Velocity setpoint source (page 350) FCB Speed
point source control.
This parameter sets the source for the torque setpoint of FCB 08 interpolated torque
control (page 359).
torque setpoint (page 360).
9964.2 Local Unit: %

torque setpoint
Resolution: 10-3.
Value range: -1000000 – 0 – 1000000, step 1.
If parameter 9964.1 Torque setpoint source (page 360) is set to "local setpoint", this pa-
rameter will be the speed setpoint for FCB 08 Interpolated torque control (page 359).
9964.3 Velocity Value range: see parameter 9598.1 Velocity setpoint source (page 350) FCB Speed
limit source control.
This parameter sets the source for the velocity limit of FCB 08 Interpolated torque con-
trol (page 359).
9964.4 Local Unit: rpm

velocity limit
Resolution: 10-3.
Value range: 0 – 10000
If parameter 9964.3 Velocity limit source is set to "local setpoint", this parameter will be
the local velocity limit for FCB 08 Interpolated torque control (page 359).

f 9
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Actual values 1
9985.1 Torque Unit: %
user unit 2
Resolution: 10-3.
Value range: -2147483648 – 0 – 2147483647, step 1.
3
Current torque; in user units, filtered for display.
4
9.5.7 FCB 09 Positioning
MOVIAXIS® has various positioning mode types. These types are described briefly in 5
the following section. FCB “Positioning” can be instanced for a maximum of 64 times.
Absolute position- The position setpoint in user units is interpreted as an absolute target and is converted
6
ing and executed in system units.
The travel range in system units is ± (231 -2). If this travel range is exceeded after the 7
conversion, the FCB issues an error.
8
Relative position- The position setpoint in user units is interpreted as the offset for the last setpoint that
ing was transferred. After it has been converted into system units, it is added to the last set- 9
point.
If the time calculated in system units is outside the travel range of ± (232 -2), the FCB 10
issues an error.
Modulo in positive The position setpoint in user units is interpreted as the absolute position. It must be
11
direction with within the modulo range of the active drive:
absolute position Lower limit = "Modulo underflow" 12
specification
13
a positive direction to reach the specified position.
14
Modulo in positive The position setpoint in user units is interpreted as the offset for the last setpoint that
direction with rela- was transferred. After it has been converted into system units, it is added to the last set- 15
tive position speci- point.
fication
The position setpoint must be positive, otherwise an error is issued. 16
The drive always turns in a positive direction to reach the new position.
17
Modulo in nega- The position setpoint in user units is interpreted as the absolute position. It must be
tive direction with within the modulo range of the active drive: 18
absolute position Lower limit = "Modulo underflow"
specification
Upper limit = "Modulo overflow" 19
a negative direction to reach the new position. 20
Modulo in nega- The position setpoint in user units is interpreted as the offset for the last setpoint that 21
tive direction with was transferred. After it has been converted into system units, it is added to the last set-
relative position point.
specification 22
The position setpoint must be negative, otherwise an error is issued.
The drive always turns in a negative direction to reach the new position.

9 f
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Modulo with short- The position setpoint in user units is interpreted as the absolute position. It must be
est distance with within the modulo range of the active drive:
absolute position
Lower limit = "Modulo underflow"
specification
If the position setpoint is outside this range, an error is issued.
The direction of the drive is determined using the last setpoint position ( = current actual
position after activation without an "In position" message) and the current setpoint posi-
tion. This value is used to determine the shortest possible route and, therefore, the di-
rection of rotation for positioning.
Modulo with rela- The position setpoint in user units is interpreted as the offset for the last setpoint that
tive position speci- was transferred. After it has been converted into system units, it is added to the last set-
fication point.
The sign of the position setpoint determines the direction of rotation of the drive.
9885.1 Use con- Value range:

trol bit "feed
• 0 = No
enable"
• 1 = Yes
This parameter specifies whether "Feed enable" is to be used in the control word or not.
If this parameter is set to "Yes", a "Feed enable" bit must also be set in the layout of the
control word. If the control word does not contain such a bit, this parameter must be set
to "No", else the drive will not start.
The "Feed enable" bit in the control word must be set during the entire positioning dis-
tance. Deactivating feed enable results in standstill of the drive with the maximum de-
celeration of FCB 09 positioning (page 361) (parameters 9886.8 – 9949.8, depending
on the instance). FCB 09 (page 361) is not exited. Positioning is continued by setting
feed enable again.
9885.2 Control bit Value range:

"Accept position"
• 0 = No
• 1 = Yes
This parameter specifies whether the "Accept position" bit is to be used in the control
word or not.
If this parameter is set to "Yes", an "Accept position" bit must also be set in the layout of
the control word. If the control word does not contain such a bit, this parameter must be
set to "No", else the drive will not start.

f 9
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The "Accept position" bit must receive a positive edge for each new positioning proce- 1
dure to accept the position. This is especially advantageous in the relative operating
modes (index operating mode 9886.1 – 9949.1) → Relative cycles of the same position
widths. The number of positive edges is saved and processed immediately. Example:
2
Setpoint position relative to 100 revolutions. 220 revolutions are traveled by two quick
successive changeovers (toggle) of the "Accept position" bit in the control word. 3
9885.3 In Position The window width for the "In position" message indicates when MOVIAXIS® sends back 4
window the information that the target position is reached to the PLC in the status word. The po-
sition window can now also be provided with a hysteresis using the parameter 9885.4
In position message hysteresis range (page 364). The actual position can dip into the 5
hysteresis range when it has entered the position window without losing the "In position".
This prevents the bit from "bouncing". 6
8
Target position
9
Hysteresis range
Position window 10
Hysteresis range
11
12
13
In position
1
14
0
1243311243 15
The "In position" message operates in the FCB according to the following rules:
• It is only set by FCB 09 Positioning (page 361) or FCB 12 Referencing (page 371) 16
when traveling to the start position.
• It will not be lost if there is a change from FCB 09 (page 361) to any other FCB, e.g. 17
have brake applied with FCB 13 Stop at application limit. The change must occur
within the position window and the hysteresis range. 18
• Goes to "0" when:
• Leaving the position window and the hysteresis range 19
• There is a new travel instruction within FCB 09 (page 361)
• There is a change to another FCB and it leaves the window
20
21
22

9 f
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9885.4 In position See parameter 9885.3 In position window (page 363).

hysteresis
9885.5 Positioning The positioning lag error specifies as of which lag distance (offset of setpoint position to
lag error actual position) an error should be triggered. The maximum lag distance is then lag error
window divided by 2. The parameter is only effective in FCB 09 Positioning (page 361).
9729.18 Position- Value range:

ing lag error
• 0 = No response
response
• 1 = Display only
• 6 = Stop at emergency stop limit / waiting
• No response
Error is ignored
• Display only
The 7-segment display shows the status but the axis does not respond.
The axis changes to the state output stage inhibited and applies a mechanical brake, if
installed. If no brake is installed, the motor will coast to a stop. After a reset, the axis
performs a warm start and is ready to operate again without delay.
• Stop at emergency stop limit / waiting
a warm start and is ready to operate again without delay.
The motor is stopped at the application limit. After a reset, the axis performs a warm start
and is ready to operate again without delay.
The motor is stopped at the system limit. After a reset, the axis performs a warm start
and is ready to operate again without delay.
The response is set to position lag error window exceeded.

f 9
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Instance data FCB Positioning (page 361) can be assigned to an instance 64 times, e.g. for table po- 1
sitioning. Each instance can be then selected in the control word. This means all subse-
quent parameters exist 64 times in ascending order sorted by index.
2
This means
• instance 0 has the basic index 9886, 3
• instance 63 has the basic index 9949.
4
9886.1 – 9949.1 Value range:
Operating mode
• 0 = Absolute 5
• 1 = Relative
• 2 = Modulo absolute positive direction 6
• 3 = Modulo relative positive direction
7
• 4 = Modulo absolute negative direction
• 5 = Modulo relative negative direction
8
• 6 = Modulo shortest distance absolute
• 7 = Modulo shortest distance relative 9
Absolute: In this operating mode, an incoming setpoint position is approached in an ab-
solute manner. In this case, the maximum travel range is ± 32768 motor revolutions. If 10
higher values are specified, MOVIAXIS® will issue error 18 (internal software error).
Relative: In this operating mode, an incoming setpoint position is approached in a rela- 11
tive manner. It is recommended to use the "Accept position" bit on the control word. In
this way, the position is approached in a relative manner for each edge even when the
relative setpoint position does not change. 12
In this case, the maximum travel range is ± 32768 motor revolutions. If higher absolute
values are specified, MOVIAXIS® will issue error 18 (internal software error). The max- 13
imum relative setpoint position that can be specified in a travel command is 32768 motor
revolutions. 14
Modulo operating modes: In the modulo operating modes, the travel range of 9594.1
Modulo underflow (page 282) to 9594.10 Modulo overflow (page 281) is mapped in pa-
15
rameter 9839.1 Modulo position (page 368).
Using the user units (see motor startup), odd-numbered ratios can be represented infi-
nitely, e.g. a turntable with infinite gear ratio that always moves in one direction. The
16
modulo absolute position is always maintained between overflow and underflow inde-
pendent of the drive revolutions. Reference travel must always be performed when re- 17
placing MOVIAXIS® or the motor.
• Modulo absolute positive direction: In this operating mode, an incoming setpoint 18
position is approached in an absolute manner within the modulo travel range. The
travel direction is always positive (looking onto the motor shaft: positive direction of
rotation). The setpoint position is only valid within the modulo limits. If higher or lower 19
values are specified, MOVIAXIS® will issue error 18 (internal software error). No
more than one revolution per travel command can be moved in this operating mode. 20
This is not a complete revolution but a revolution minus the resolution of the set user
unit.
21
22

9 f
i
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• Modulo relative positive direction: In this operating mode, an incoming setpoint

position is approached in a relative manner within the modulo travel range. The travel
direction is always positive (looking onto the motor shaft: Positive direction of rotation
for parameter 8537.0 Direction of rotation reversal (page 250) set to "OFF"). Several
modulo travel ranges can be specified here (up to a maximum ± 32768 motor revo-
lutions).
• Modulo absolute negative direction: Like the "Modulo absolute positive direction"
operating mode, but in negative direction.
• Modulo relative negative direction: Like the "Modulo relative positive direction"
operating mode, but in negative direction.
• Modulo absolute shortest distance: In this operating mode, the drive always trav-
els the shortest distance within the modulo travel range. This can mean a positive or
negative direction. The setpoint position is only valid within the modulo limits. If
higher or lower values are specified, MOVIAXIS® will issue error 18 (internal soft-
ware error).
• Modulo relative shortest distance.
The following settings apply to all operating modes.

The reset behavior of parameter 9998.1 Position mode (page 342) in conjunction with
absolute encoders depends on the following settings:
• If set to "Without overflow counter", the unit will always be positioned in the abso-
lute range of the encoder following a CPU reset and system restart, e.g. with
Hiperface® 4096 motor revolutions. This might result in a position loss in the event
of an encoder overflow. If the position range of the absolute encoder is not exceeded,
no reference travel is required when replacing MOVIAXIS® because no overflows
can be stored in MOVIAXIS®. Reference travel is only required when the motor is re-
placed.
• When set to "With overflow counter", the complete ± 32768 motor revolutions are
utilized despite overflow. MOVIAXIS® stores absolute encoder overflows internally.
This also functions when the axis is moved to overflow without electrical current. This
is ensured by checking the travel range. Reference travel must always be performed
after having replaced MOVIAXIS® or the motor.
9886.2 – 9949.2 Value range: see parameter 9598.1 Velocity setpoint source (page 350) FCB Speed
Positioning set- control.
point source
This parameter sets the source for the positioning setpoint of FCB 09 Positioning
(page 361).
If set to "local setpoint", the source will be parameter 9886.3 – 9949.3 Local positioning
setpoint (page 367).

f 9
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9886.3 – 9949.3 Unit: U. 1

Local positioning
setpoint
Value range: -2147483648 – 0 – 2147483647, step 1. 2
If the parameter 9886.2 – 9949.2 Positioning setpoint source (page 366) is set to "local
setpoint", this parameter will be the positioning setpoint for FCB 09 Positioning 3
(page 361).
4
Max. positioning control.
5
velocity positive This parameter sets the source for the positive positioning velocity of FCB 09 Positioning
source (page 361).
6
If set to "local setpoint", the source will be parameter 9886.5 – 9949.5 Local max. posi-
tioning velocity positive (page 367).
7
9886.5 – 9949.5 Unit: 10-3 rpm.
Local max. posi- 8
tioning velocity
positive If parameter 9886.4 – 9949.4 Positioning velocity positive source (page 367) is set to
9
"local setpoint", this parameter will be the positive velocity for FCB 09 Positioning
(page 361).
10
Max. positioning control. 11
velocity negative This parameter sets the source for the negative positioning velocity of FCB 09 Position-
source ing (page 361). 12
If set to "local setpoint", the source will be parameter 9886.13 – 9949.13 Positioning ve-
locity negative local (page 367). 13
9886.13 – 9949.13 Unit: 10-3 rpm.

14
Local max. posi-
tioning velocity
negative If parameter 9886.12 – 9949.12 Positioning velocity negative source (page 367) is set 15
to "local setpoint", this parameter will be the negative velocity for FCB 09 Positioning
(page 361).
16
Max. acceleration control. 17
source
This parameter sets the source for the positive acceleration of FCB 09 positioning
(page 361). 18
If set to "local setpoint", the source will be parameter 9886.7 – 9949.7 Acceleration pos-
itive local (page 368). 19
20
21
22

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9886.7 – 9949.7 Unit: 10-2/min×s.

Local max. velocity
Value range: 0 – 300000 .. 2147483647, step 1.
If parameter 9886.6 – 9949.6 Max. acceleration source (page 367) is set to "local set-
point", this parameter will be the positive acceleration for FCB 09 Positioning
(page 361).
Max. deceleration control.
source
This parameter sets the source for the deceleration of FCB 09 Positioning (page 361).
If set to "local setpoint", the source will be parameter 9886.9 – 9949.9 Local max. decel-
eration (page 368).
9886.9 – 9949.9 Unit: 10-2/min×s.

Local max. decel-
Value range: 0 – 300000 .. 2147483647, step 1.
eration
If parameter 9886.8 – 9949.8 Deceleration source (page 368) is set to "local setpoint",
this parameter will be the deceleration for FCB 09 Positioning (page 361).
Jerk source control.
This parameter sets the source for the jerk of FCB 09 Positioning (page 361).
If set to "local setpoint", the source will be parameter 9886.11 – 9949.11 Local jerk
(page 368).
9886.11 – 9949.11 Unit: 1/(min×s2).

Local jerk
Value range: 1 – 2147483647, step 1.
If parameter 9886.10 – 9949.10 Jerk source (page 368) is set to "local setpoint", this pa-
rameter will be the jerk for FCB 09 Positioning (page 361).
9704.1 Position Unit: U.

Value range: -2147483648 – 0 – 2147483647, step 1.
Current actual position in user units, filtered for display.
9839.1 Modulo Unit: U.

position
Value range: -2147483648 – 0 – 2147483647, step 1.
Current actual modulo position in user units, filtered for display.
10098.2 Lag error Unit: U.

Resolution: 1/65536
Value range: -2147483648 – 0 – 2147483647, step 1

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9.5.8 FCB 10 Interpolated positioning 1

FCB 10 Interpolated positioning is used for cyclic preselected position setpoints of
higher-level controllers, e.g. MotionControl. 2
The higher-level controller is responsible for the following limits:
• Jerk 3
• Acceleration
4
• Speed.
Only the speed and torque system limits take effect in MOVIAXIS®.
5
Prerequisite is a synchronized bus system. This means that incoming process data has
a fixed time reference for the control system of the axis.
6
trol (page 259); 250µs, 500µs or 1ms). 7
MOVIAXIS® now has the task of forwarding the incoming positions with a rough time ref-
erence to the operating position controller with the shortest time reference. Intermediate 8
values must be interpolated for this purpose. The setpoint flow is delayed by one com-
munication cycle to carry out this interpolation. 9
10
setpoint cycle
Value range: 500 – 20000, step 500. 11
controller to send position setpoints. This time must be a multiple of the cycle time of the 12
position control loop (parameter 9821.1 Scanning frequency n/X control (page 259)).
13
9966.5 Setpoint Unit: μs
position filter
14
9729.18 Position- • 0 = No response
ing lag error 15
response
• 2 = Output stage inhibit / locked 16
• 3 = Stop at emergency stop limit / locked
• 5 = Output stage inhibit / waiting 17
• 6 = Stop at emergency stop limit / waiting
• 8 = Stop at application limit / waiting 18
• 9 = Stop at application limit / locked
19
• 11 = Stop at system limit / locked 20
This parameter is used to set the response to an exceeded position lag error window.
21
22

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9966.1 Setpoint Value range: see parameter 9598.1 Velocity setpoint source (page 350) FCB Speed
position source control.
This parameter sets the source for the positioning setpoint of FCB 10 Interpolated posi-
tioning (page 369).
If the parameter is set to "local setpoint", the source will be parameter 9966.2 Local po-
sition setpoint (page 370).
9966.2 Local posi- Unit: U.

tion setpoint
Value range: -2147483648 – 0 – 2147483647, step 1.
If the parameter "Setpoint position source" is set to "local setpoint", this parameter will
be the position setpoint for FCB 10 Interpolated positioning (page 369).
9966.4 Positioning Unit: U.

lag error window
Value range: 0 – 65536 – 2147483647, step 1.
The lag error window for positioning specifies the allowed dynamic deviation of the set-
point from the actual value in user units until an error is triggered. The error response is
set in parameter 9729.18 Lag error positioning response (page 369).

Value range: -2147483648 – 0 – 2147483647, step 1.
9839.1 Modulo Unit: U.

position
Value range: -2147483648 – 0 – 2147483647, step 1.
10098.2 Lag error Unit: U.

Resolution: 1/65536
Value range: -2147483648 – 0 – 2147483647, step 1

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9.5.9 FCB 12 Reference travel 1

Actual values
9857.1 Reference Indicates the state that the reference travel is currently in. 2
travel state
3
9703.1 Velocity Unit: 10-3 rpm.
Current actual velocity in user units, filtered for display. 4
5
6
Value range: -2147483648 – 0 – 2147483647, step 1.
7
9839.1 Modulo Current actual modulo position in user units, filtered for display.
9
position
Unit: U.
Resolution: 1/65536. 10
Value range: -2147483648 – 0 – 2147483647, step 1.
11
9.5.10 FCB 18 Encoder adjustment
FCB 18 Encoder adjustment is used for commutation detection for synchronous AC mo- 12
tors (linear and rotary). The drive must be disconnected from the load and from the gear
unit. If this is not possible, or only with considerable effort, see FCB25 Rotor position 13
identification. The motor must first be started up electrically.
When changing to FCB 18 encoder adjustment, calibration (exception: "Automatically 14
write preset offset angle to parameter" mode) is immediately started and runs through
the following states:
15
INFORMATION 16
FCB18 should be selected directly from controller inhibit (FCB01) because all other
stop FCBs (including the default FCB13) set the speed to 0. Without proper commu-
tation, this might result in a non-controlled movement of the axis.
17
1. Inactive: FCB is not selected.

18
2. Current build-up: Adjustment is started by selecting the FCB. Parameter 10054.1
Write control encoder alignment (page 379) is set to "inactive". 19
3. Wait 1: The motor waits until the mechanical settling process at the motor shaft is
finished. 20
21
22

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4. Turn forward: The drive now rotates forward one revolution (as viewed from the
motor shaft, positive direction of rotation). The revolution in the positive direction of
rotation is very important, else the wiring may be incorrect and parameter 10054.3
Encoder adjustment status (page 378) changes to status 10 error. The parameter
8537.0 Direction of rotation reversal (page 250) reverses the direction of rotation
(first negative then positive direction of rotation).
finished.
6. Turn backward: The motor shaft turns back to the old position.
finished.
8. Finished: In this condition, MOVIAXIS® now waits for a response from the user or
the higher-level controller depending on the connected motor. In the meantime, pa-
rameter 10054.1 Measured encoder offset (page 379) is permanently compared with
the position of the motor shaft. Parameter 10054.2 Write position encoder offset
(page 379) contains the result of the measurement. There are several ways to adjust
the encoder:
Mode Description
Adjust encoder manually → SEW synchronous motor with resolver
This mode is for manual adjustment of the encoder on the motor
shaft.
Write encoder offset to Hiperface® → SEW synchronous motor with Hiperface®
encoder After executing this mode, the data is written to the Hiperface®
encoder. It is not necessary to open the motor.
Write encoder offset to parameter → Non-SEW synchronous motor
After executing this mode, the measured offset is written to a param-
eter in MOVIAXIS®.
This mode is independent of the encoder, as non-SEW motors are
not to be changed. This ensures that it is not necessary to measure
the motor again in case of service is required for the motor.
Write encoder offset to parameter → Synchronous motor without absolute information (rotary and lin-
automatically ear)
This mode is for synchronous motors that do not have any single-turn
absolute information in the encoder (e.g. sin/cos encoders or incre-
mental encoders).
The higher-level controller must select the FCB18 Encoder adjust-
ment and perform a calibration run each time the unit is switched on.
The application must allow the motor to move freely → direct drive
(rotary and linear).
Automatically write preset offset See mode Determine preset offset angle.
angle to parameter
Determine preset offset angle → Synchronous motor without absolute information (rotary and lin-
ear) with always the same wake-up position (such as locked), which
is ensured mechanically.
This mode is intended for synchronous motors that do not have any
single-turn absolute information in the encoder (e.g. sin/cos encod-
ers or incremental encoders) and are always switched off/on in the
same positions. Application examples are locking bolts upon switch-
on, or hoists at the lower buffer position.
During initial startup, the offset must be determined using the mode
"Determine preset offset angle" and the subsequent calibration run.
During each switch-on sequence, the higher-level controller must
then call FCB18 Encoder adjustment with the mode Automatically
write preset offset angle to parameter.
This does not start calibration travel, but only copies a parameter.

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Mode description 1
10054.6 Mode Mode 1: Adjust encoder manually
2
10
11
12
13
1. Set measuring current.
SEW-EURODRIVE recommends nominal motor torque as starting value (100% for 14
basic user unit torque).
Important: During the measurement, the measuring current is continuously supplied 15
to the motor.
2. Select "Adjust encoder manually" mode
16
3. Select FCB 18 Encoder adjustment (directly from controller inhibit)
4. The encoder adjustment status runs through the above described states. 17
5. After the encoder adjustment status "Completed" is displayed, you can set the re-
solver manually to "0" using the shown clock. 18
6. Check the setting by calling FCB 18 Encoder adjustment again.
19
20
21
22

9 f
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Mode 2: Write encoder offset to Hiperface® encoder

SEW-EURODRIVE recommends nominal motor torque as starting value (100% for
Important: During the measurement, the measuring current is continuously supplied
to the motor.
2. Select "Write encoder offset to Hiperface®" mode
4. The encoder adjustment status runs through the above described states.
5. After the encoder adjustment status "Completed" is displayed, the parameter write
status changes to "Ready to write".
6. Now, the parameter Encoder adjustment write control must be set to "Write".
MOVIAXIS® now writes the value displayed in parameter Encoder write position to
the Hiperface® encoder. The value is not exactly zero. The difference is the friction
caused by turning forwards and backwards.
7. MOVIAXIS® starts the calibration process again to check the settings.

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Mode 3: Write encoder offset to parameter 1
10
11
12
13
SEW-EURODRIVE recommends nominal motor torque as starting value (100% for
14
to the motor.
15
2. Select "Write encoder offset to parameter" mode
16
4. The encoder adjustment status runs through the states described above.
5. After the encoder adjustment status "Completed" is displayed, the parameter write 17
status changes to "Ready to write".
6. Now, the parameter Encoder adjustment write control must be set to "Write". 18
MOVIAXIS® now writes data to the parameter Encoder offset P1 – P3 (depending on
the parameter set).
19
7. MOVIAXIS® starts the calibration process again to check the settings.
20
21
22

9 f
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Mode 4: Write encoder offset to parameter automatically
The mode Write encoder offset to parameter automatically has the same function as the
mode Write encoder offset to parameter.
The difference is point 6. Data is not written to the parameter Encoder offset P1 – P3 by
Encoder adjustment write control, but automatically after the calibration has been com-
pleted.
Mode 5: Write preset offset to parameter automatically

A prerequisite for this mode is that the preset offset has been determined once with the
mode Determine preset offset angle. After that, FCB 18 Encoder adjustment must be
selected once after each switch-on sequence with this mode.
See mode "Determine preset offset angle".

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Mode 6: Determine preset offset angle 1
10
11
12
1. Set drive to wake-up position. The wake-up position should always be the same to
being able to use this mode. 13
2. Switch on the unit – apply 24 V
14
3. Set measuring current
SEW-EURODRIVE recommends nominal motor torque as starting value, that is
100% for basic user unit torque.
15
to the motor. 16
4. Select Determine preset offset angle mode
17
5. You can now move the drive away from the wake-up position to an area in which it
can move freely for commutation travel. It is important that the axis remains switched
on so that distance measuring by encoder is ensured. The commutation travel can 18
be executed at any point.
6. Select FCB 18 Encoder adjustment (directly from controller inhibit) 19
7. The encoder adjustment status runs through the states described above.
8. The measured encoder offset is copied to the parameter Preset offset before the en-
20
coder adjustment status "Completed" is displayed.
21
22

9 f
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It must be ensured before each switch-on that the drive is in the defined wake-up posi-
tion. Then, a higher-level controller must select FCB18 Encoder adjustment with mode
"Write preset offset angle to parameter automatically". Now, the axis is ready for opera-
tion.
The status bit Motor commutated can deliver feedback.
Parameter descrip-
tion
10054.3 Encoder Value range:
adjustment status • 0 = Inactive
• 1 = Current generation
• 2 = Waiting 1
• 3 = Turn forward
• 4 = Waiting 2
• 5 = Turn backward
• 6 = Waiting 3
• 7 = Copy
• 8 = Do not copy
• 9 = Finished
• 10 = Fault
10054.4 Write con- Value range:

trol encoder adjust- • 0 = Inactive
ment
• 1 = Do not copy
• 2 = Write
Inactive: The FCB always starts with this setting. If the parameter is set to another set-
ting, it will be reset to "inactive".
Do not copy: This setting is only used for special purposes to write an arbitrary encoder
offset to the Hiperface® encoder.
Write: With this setting, the parameter 10054.1 Measured encoder offset (page 379) will
be written to the Hiperface® encoder.
10054.7 Write sta- Value range:

tus
• Not ready to write
• Ready to write
• Writing in progress
• Write process finished

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10054.1 Mea- Unit: U. 1

sured encoder off- 32
Resolution: 1/2 .
set
Currently measured encoder offset for which the encoder shaft has an incorrect setpoint 2
setting. (360° corresponds to one mechanical revolution).
3
10054.2 Encoder Unit: U.
write position Resolution: 1/65536. 4
Value range: 0 – 4294967295, step 1.
This value is written for "Encoder adjustment write control = Write" to a Hiperface® en- 5
coder. The inaccuracy of "0" is determined by the friction compensation.
6
10054.11 / 12 / 13 See table above on the Determine preset offset angle mode.
Preset offset P1 – 7
P3
8
9834.1 / 2 / 3 See table above on the Write encoder offset to parameter mode.
Encoder offset P1
– P3 9
10054.5 Measur- Unit: %. 10

ing current -3
Resolution: 10 .
Value range: 0 – 100000 – 1000000, step 1. 11
The measuring current must be set in the user units of the torque. It must not exceed
the nominal motor torque. 12
9.5.11 FCB 20 Jog mode 13

MOVIAXIS® has a position-controlled jog mode function; this means it is possible to
move an axis in positive or negative direction, for example, for alignment purposes in 14
position-controlled mode using two adjustable speeds for each. The advantage of this
function is that it can be used with hoist applications for which the position is not permit- 15
ted to change when a change in load occurs when the drive is at a standstill.
16
Setpoints
9604.10 Select set Value range: Velocity 1, velocity 2
of jog velocities 17
9604.12 Velocity 1 Value range: 18

positive source
• Local setpoint
19
• IN process data channel 00 – 15
• Application limit acceleration
20
FCB Speed control
21
22

9 f
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9604.1 Velocity 1 Unit: rpm

positive local
Resolution: 10-3.
Positive speed setpoint in user units (as seen onto the motor shaft, positive direction of
rotation).
9604.13 Velocity 1 Value range:

negative source
• Local setpoint
• Application limit deceleration

negative local
Resolution: 10-3.
Negative speed setpoint in user units (as seen onto the motor shaft, negative direction
of rotation).

positive
Resolution: 10-3.
Positive speed setpoint in user units (as seen onto the motor shaft, positive direction of
rotation).

negative
Resolution: 10-3.
Negative speed setpoint in user units (as seen onto the motor shaft, negative direction
of rotation).
Limit values
9604.14 Accelera- Value range:
tion source
• Local setpoint
• Application limit acceleration
9604.5 Accelera- Resolution: 10-2/(min×s).

tion
Value range: 0 – 300000 – 2147483647, step 1.
Jog acceleration in user unit.

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9604.15 Decelera- Value range: 1

tion source
• Local setpoint
• IN process data channel 00 – 15 2
3
9604.6 Decelera- Resolution: 10-2/(min×s).
tion
Value range: 0 – 300000 – 2147483647, step 1.
4
Jog acceleration in user unit.
5
9604.16 Jerk Value range:
source 6
• Local setpoint
7
• Application limit jerk
8
9604.7 Jerk Resolution: 10-2/(min×s2).
Value range: 1 – 2147483647, step 1. 9
Jerk in user unit for jog mode.
10
9604.17 Lag error The Jog lag error window specifies as of which lag distance (offset of setpoint position
window to actual position) an error will be triggered. The maximum lag distance is then lag error
window divided by 2. The parameter is only effective in FCB20 Jog.
11
9604.18 Jog lag Value range: 0 – 1 – 5 12

error response
• 0 = No response
13
14
Actual values
15
10120.1.1 Velocity Unit: 10-3/min
Current actual velocity in user units, filtered for display. 16
17
Current actual position in user units, filtered for display. 18
9839.1 Modulo Unit: U. 19

position
Value range: -2147483648 – 0 – 2147483647, step 1. 20
21
22

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9.5.12 FCB 21 Brake test

This function is used to check the braking capability of a brake connected to
MOVIAXIS®. A test torque is applied electrically via the motor when the brake is applied.
Even when the brake has passed the brake test, it does not take on any safety functions
as far as machine safety is concerned in combination with MOVIAXIS®.
The brake is only tested in accordance with the set brake test torque. The actual "brake
breakaway torque" is not measured.
MOVIAXIS® supports four test modes:
1. A higher-level controller provides the setpoints and monitoring function for the test.
2. MOVIAXIS® performs a check in both directions compared to the set limit torques.
3. MOVIAXIS® performs a check in positive direction compared to the set limit torques.
4. MOVIAXIS® performs a check in negative direction compared to the set limit torques.
The test torque, test time and the direction of rotation of the test can be set. If a test is
not passed, the breakaway torque is documented.
The braking torque is limited by the set Torque system limit. Note: The application torque
must be considered for calculating the test torque, e.g. hoist test "downward".
INFORMATION
When the brake has passed the brake test, it does not take on any safety functions as
far as machine safety is concerned in combination with MOVIAXIS®.
A check is not made to determine whether a brake is physically present. This means
that the brake test would also be performed without a brake.
This allows for the testing of external brakes.
9600.1 Test Value range:

• 1 = External setpoint selection
• 2 = Bipolar torque
• 3 = Positive torque
• 4 = Negative torque
External setpoint selection
In this mode, the brake test is completely evaluated by a higher-level controller / PLC.
The brake test is running as long as the FCB is active. Possible travel movements are
not monitored.
Only the parameters for the speed setpoint "9600.4 (page 383) and 9600.5 (page 384)"
and test torque "9600.2 (page 384) and 9600.3 (page 384)" are used. All other param-
eters are only used in test modes 2 to 4.

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A negative test torque is implemented by specifying a negative speed. System limits 1

take effect including the jerk limits.
Bipolar, positive and negative torque mode 2
The brake is considered to be "ok" when the motor shaft does not move more than 10°.
This is a fixed value. The position source is the active position encoder. 3
In this mode, the brake test is completely evaluated and reported back by MOVIAXIS®.
Brake slipping, even when minimal, generates axis movement in the test direction. Only 4
the system limits are effective for the FCB brake test (page 382). System jerk is not ef-
fective. 5
Use the test mode "bipolar", "positive" or "negative" depending on the application.
The duration of the set test torque can be set using parameter 9600.6 Test duration 6
(page 384). The test result is stored in parameter 9600.8 Status (page 383) after suc-
cessful completion of the test.
7
Parameter 9600.4 Setpoint speed (page 383) is not effective.
If a brake test is interrupted, an error message will be issued. Speed monitoring is de- 8
activated for the duration of the brake test.
• Bipolar: Positive and negative test torque (brake test is performed twice, which 9
means twice the test period),
• Positive: Operated only with a positive test torque 10
• Negative: Operated only with a negative test torque
11
9600.8 Status Value range: 0 – 4294967295, step 1.
The following statuses can be displayed: 12
• No calibration.
• Calibration in progress. 13
• Calibration was aborted.
• Brake OK.
14
• Brake faulty.
15
Brake "ok" or "faulty" can also be read in the status word.
16
Setpoints
9600.4 Speed set- Only mode 1.
point source
17
Value range: see parameter 9598.1 Velocity setpoint source (page 350) FCB Speed
control.
18
This parameter sets the source for the speed setpoint of FCB 21 brake test (page 382).
If the parameter is set to "local setpoint", the source will be parameter 9600.4 Local 19
speed setpoint.
20
21
22

9 f
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9600.5 Local Only mode 1.

speed setpoint
Resolution: 10-3.
Value range: -1000000 – 0 – 1000000, step 1.
If parameter 9600.4 Speed setpoint source (page 383) is set to "local setpoint", this pa-
rameter will be the speed setpoint for the FCB 21 Brake test (page 382).
Limit values
9600.2 Test torque Value range: see parameter 9598.1 Velocity setpoint source (page 350) FCB Speed
source control.
This parameter sets the source for the test torque of FCB 21 Brake test (page 382).
If the parameter is set to "local setpoint", the source will be parameter 9600.3 Local test
torque (page 384).
The test torque cannot be changed during the test run. The test torque should be based
on the brake torque in conjunction with the static load torque.
9600.3 Local test Unit: %.

torque
Resolution: 10-3.
Value range: 0 – 100000 – 1000000, step 1.
If parameter 9600.2 Test torque source (page 384) is set to "local setpoint", this param-
eter will be the test torque for FCB 21 Brake test (page 382) in user units.
9600.6 Test dura- Only modes 2 – 4.

tion
Unit: ms.
Value range: 0 – 1000 – 5000, step 1.
The test duration is indicated in mode 2 to 4 for the duration of the test. Afterwards, "ok"
or "faulty" is displayed in brake status.
SEW-EURODRIVE recommends a test time of 1 second.
9600.9 Protocol Only modes 2 – 4.

torque
Unit: %.
Resolution: 10-3.
If the brake is faulty, the protocol torque shows the slip torque in user units in mode 2 – 4.
Actual values
9985.1 User unit Unit: %.
torque Resolution: 10-3.
Value range: -2147483648 – 2147483647, step 1.
Current torque in user units, filtered for display.

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9.5.13 FCB 22 Multi-drive 1

FCB Multi-drive is used to operate 2, 3 or 4 motors on a load in the mode "interpolated
speed control" (like FCB 6). The drives can be mechanically coupled or not. The me- 2
chanical coupling can also be temporary. Working against each other like rigidly coupled
synchronized drives is not possible due to the functional principle.
3
The FCB Multi-drive does not work according to the master-slave principle, but all drives
are equal. They receive the same speed setpoint from a higher-level controller and the
balance their position via lateral axis-to-axis communication. This position balancing is 4
given priority, even in case an axis (due to an error) or several axes (due to the torque
control limit) can no longer follow the preset speed setpoint. This can mean, for example, 5
that 3 axes coast to stop along the one axis that is in fault status.
6
Process data
exchange for two
motors (dual drive) 7
Controller 8
9
Speed setpoint Speed setpoint
10
Actual posion
11
Balancing controller nMin
Balancing controller nMax 12
Axis 1 Axis 2 13
Actual posion
Balancing controller nMin 14

Balancing controller nMax
15
The process data exchange is configured via PDO Editor. Each axis sends its data syn-
chronously via system bus. In the same cycle, each axis receives the data of the respec- 16
tive remote axis.
17
18
19
20
21
22

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Triple or quadru- The process data exchange of triple or quadruple injection is similar to that of the dual
ple injection drive.
The speed setpoint is addressed to 3 or 4 axes accordingly. In contrast to double injec-
tion, the lateral communication is designed in such a way that each of the 4 axes sends
and receives the "actual position", "balance controller nMin" and "balance controller
nMax".
This means that the balance controller data of each axis is cyclically available to all 3
other axes. For balancing control, the average is determined from this data.
Position balance A position balance controller is implemented to ensure position synchronicity. A prereq-
controller uisite for useful operation is that all axes are referenced correctly.
Each axis determines the differences between its own position and the positions of each
of the other axes. The positions of the two axes can be offset from each other by a de-
fined value via an offset parameter (10052.7). The leading axis must receive the offset
as a negative value, the lagging axis as a positive value.
The parameters on both axes must receive the same amount, but a different sign. If this
is not the case, the actual speed can deviate from the speed setpoint.
If more than two axes are used as multi-drive, the sum of the offset parameters
(10052.7) across all axes must be zero.
Speed setpoint The position balance controller can only work properly as long as the drives are not at
limit the control limit. If the setpoint speed deviates from the actual speed, the control variable
of the position balance controller is no longer fully effective, or not effective at all. Posi-
tion balancing is no longer fully realized. To prevent this, the speed setpoint is limited
before the control value of the position balance controller is activated.
The speed setpoints are limited in such a way that the drive with the higher torque de-
mand is operating exactly at the torque control limit. For this purpose, all axes determine
the minima (maxima) of nmax (nmin) of the local values and the remote values.
Initialization phase After activating FCB22 in the control word, this FCB is in Position balancing mode. Here,
of FCB 22 Multi- it checks whether the position is outside the Lag error window dual drive adjustment
drive phase (10052.26). If this is true, the following error is issued:

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E21.1 Lag error in adjustment phase 1

If this is not true, the position deviation is corrected. The required maximum travel speed
can be set in parameter Maximum synchronization speed (10052.27). The synchroniza- 2
tion speed is superimposed on the specified speed setpoint.
If the lag error falls below the value of the Lag error window parameter (10052.9), the 3
unit changes to Standard mode. As of this moment, the Lag error window dual drive ad-
justment phase (10052.26) becomes inactive, and the Lag error window (10052.9) be-
comes effective. 4
If the position deviation exceeds this value, the following error is triggered:
5
E21.2 Lag error in standard operation
The response of the axis to this error can be parameterized via Lag error response
6
(10052.8).
The parameters for defining the lag error windows are checked for plausibility. The fol-
lowing errors can occur:
7
E16.1034: Lag error window position adjustment (10052.26) must be larger than Lag
error window dual drive (10052.9). 8
E16.1035: Lag error window dual drive (10052.9) must be larger than Position adjust-
ment threshold (10052.25). 9
Parameter descrip- 10
tion
9963.1 Controller Unit: μs 11
setpoint cycle Value range: 500 – 20000, step 500
Cycle of speed setpoints from the higher-level controller. 12
10052.1 Setpoint Unit: ms 13

cycle lateral com- Value range: 1 ms is fixed, cannot be selected
munication for 14
position balancing
10052.2 P-gain Unit: 1/s

15
position balance
Resolution: 0.001 1/s
controller 16
Value range: 0 – 20 – 10000
17
10052.27 Maxi- Unit: User unit (default: rpm)
mum synchroniz- Resolution: 10-3
ing speed 18
Value range: -2147483648 – 0 – 2147483647, step 1
19
adjustment thresh-
Resolution: 1/65536 20
old
Value range: -2147483648 – 0 – 2147483647, step 1
21
22

9 f
i
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10052.26 Lag error Unit: User unit (default: rev)

window dual drive
Resolution: 1/65536
adjustment phase
Value range: -2147483648 – 0 – 2147483647, step 1
10052.3 Velocity Value range:

setpoint source • Local setpoint
• Application limit torque

setpoint local
Resolution: 10-3
Value range: -2147483648 – 0 – 2147483647, step 1

difference
Resolution: 1/65536
Value range: -2147483648 – 0 – 2147483647, step 1
10052.28 FCB 22 Value range:

Mode
• Disabled
• 2-axis mode
• 3-axis mode
• 4-axis mode
10060.1 / 2 / 3 Value range:

Source of mini-
• Local setpoint
mum speed bal-
ance controller • IN process data channel 00 – 15
remote axis 1/2/3
10059.1 / 2 / 3 Value range:

Source of maxi- • Local setpoint
mum speed bal-
ance controller • IN process data channel 00 – 15
remote axis 1/2/3
10052.5 Position Value range:

balancing setpoint • Local setpoint
source

f 9
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10052.30 / 32 FCB Value range: 1

Position balancing
• Local setpoint
source
10052.8 Lag error Value range: 3

response
• No response
• Display only
4
5
• Emergency stop/waiting
• Stop at system limit/waiting 6
7
10052.9 Lag error Unit: User unit (default: rev)
window
Resolution: 1/65536 8
Value range: -2147483648 – 0 – 2147483647, step 1
9
10052.10 Current Unit: User unit (default: rev)
lag error dual drive 10
Resolution: 1/65536
Value range: -2147483648 – 0 – 2147483647, step 1
11
10052.11 Torque Value range:
limitation mode 12
• 1 channel
• 2 channels
13
• 4 channels
10052.12 / 14 / 16 Value range: 14

/ 18 Torque limit
• Local setpoint
1 / 2 / 3 / 4 source 15
16
10052.13 / 15 / 17 Unit: User unit (default: % nominal motor torque)
/ 19 Torque limit
Resolution: 10-3
1 / 2 / 3 / 4 local 17
Value range: -2147483648 – 0 – 2147483647, step 1
18
10052.22 Positive Value range:
transition mode
• Center 19
• Motor
• Regenerative 20
21
22

9 f
i
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10052.20 Positive Unit: User unit (default: rpm)

transition speed
Resolution: 10-3
Value range: -2147483648 – 0 – 2147483647, step 1
10052.23 Nega- Value range:

tive transition
• Center
mode
• Motor
• Regenerative
10052.21 Nega- Unit: User unit (default: rpm)

tive transition
Resolution: 10-3
speed
Value range: -2147483648 – 0 – 2147483647, step 1

Resolution: 10-3
Value range: -2147483648 – 0 – 2147483647, step 1

f 9
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9.5.14 FCB 25 Rotor position identification 1

FCB25 Rotor position identification is used for commutation detection for synchronous
AC motors (linear and rotary). In contrast to FCB18 Encoder adjustment, it is not neces- 2
sary to separate the drive from the load or the gear unit. FCB25 Rotor position identifi-
cation is a commutation at standstill that can be performed even when the brake is ap-
plied. 3
FCB25 can only be used with certain types of SEW-EURODRIVE motors:
4
• CMP71, CMP80, CMP100 and CMP112
• CFM motors 5
• DS motors
Another requirement for using this function is that you have to determine correction fac- 6
tors for the individual motors which are written to MOVIAXIS® during motor startup.
The complete list of correction factors of the determined motors was not available when 7
this publication went to press. Please contact SEW-EURODRIVE for a copy. However,
without this information, you can simply select FCB25 for any motor.
8
If no correction factors are available in MOVIAXIS®, the axis will change to fault status.
There is no risk of an operating error.
9
The motor must first be started up electrically.
When switching to FCB25 Rotor position identification, the calibration process is started 10
immediately!
11
INFORMATION
FCB25 should be selected directly from controller inhibit (FCB01) because all other 12
stop FCBs (including the default FCB13) set the speed to 0. Without proper commu-
tation, this might result in a non-controlled movement of the axis.
13
14
Mode Description
Adjust encoder manually → SEW synchronous motor with resolver
This mode is for manual adjustment of the encoder on the motor
15
shaft.
Write encoder offset to Hiperface® → SEW synchronous motor with Hiperface® 16
encoder After executing this mode, the data is written to the Hiperface®
encoder. It is not necessary to open the motor.
Write encoder offset to parameter → Non-SEW synchronous motor 17
After executing this mode, the measured offset is written to a param-
eter in MOVIAXIS®.
This mode is independent of the encoder, as non-SEW motors are 18
not to be changed. This ensures that it is not necessary to measure
the motor again in case of service is required for the motor.
Write encoder offset to parameter → Synchronous motor without absolute information (rotary and lin-
19
automatically ear)
This mode is for synchronous motors that do not have any single-turn
absolute information in the encoder (e.g. Sin/Cos encoders or incre-
20
mental encoders).
The higher-level controller must select the FCB18 Encoder adjust-
ment and perform a calibration run each time the unit is switched on. 21
The application must allow the motor to move freely → direct drive
(rotary and linear).
22

9 f
i
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Mode description
10438.3 Mode Mode 1: Adjust encoder manually
1. Select Adjust encoder manually mode

2. Select FCB25 Rotor position identification (directly from controller inhibit)
3. After the status Encoder adjustment completed is displayed, you can set the resolver
manually to "0" using the shown clock.
4. Check the setting by calling FCB25 Rotor position identification again.

f 9
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Mode 2: Write encoder offset to writeable encoder 1
10
11
1. Select Write encoder offset to writeable encoder mode 12

2. Select Adjust encoder manually mode
3. Select FCB25 Rotor position identification (directly from controller inhibit)
13
4. After the status Encoder adjustment completed is displayed, you can set the resolver
manually to "0" using the shown clock. 14
5. Check the setting by calling FCB25 Rotor position identification again.
15
16
17
18
19
20
21
22

9 f
i
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Mode 3: Write encoder offset to parameter
• Select Write encoder offset to parameter mode

• Select Adjust encoder manually mode
• Select FCB25 Rotor position identification (directly from controller inhibit)
• After the status Encoder adjustment completed is displayed, you can set the resolver
manually to "0" using the shown clock.
• Check the setting by calling FCB25 Rotor position identification again.

f 9
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Mode 4: Write encoder offset to parameter automatically 1
10
11
The mode Write encoder offset to parameter automatically has the same function as the 12
mode Write encoder offset to parameter.
The difference is that data is not written to the parameter Encoder offset P1 – P3 by En-
13
coder adjustment write control, but automatically after the calibration has been com-
pleted.
14
Parameter descrip-
tion 15
10438.4 Write con- Value range:
trol • 0 = Inactive 16
The FCB always starts with this setting. If the parameter is set to another setting, it
will be reset to "inactive". 17
• 1 = Do not copy
This setting is only used for special purposes to write an arbitrary encoder offset to 18
the writeable encoder.
• 2 = Write 19
With this setting, the parameter "10438.1 Measured encoder offset" will be written to
the writeable encoder. 20
21
22

9 f
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10438.10 Write Value range:

status
• Not ready to write
• Ready to write
• Writing in progress
• Write process finished
10438.3 Wait until Value range:

write operation
10438.1 Mea- Unit: ° mechanical motor revolution

sured encoder off-
Currently measured encoder offset for which the encoder shaft has an incorrect setpoint
set
setting (360° corresponds to one mechanical turn).
9834.1 / 2 / 3 Unit: ° mechanical motor revolution

Encoder offset P1 Resolution:
– P3
Value range:
See Write encoder offset to parameter mode.
9.5.15 FCB 26 Stop at user limits

FCB26 Stop at user limits is used for stops at user limits that initiate the deceleration
ramp, either as a local setpoint or set via fieldbus.
You can choose between a speed-controlled ramp and a position-controlled ramp. In
contrast to other stop FCBs, this FCB26 Stop at user limits has a very low priority.
This allows you to select FCB26 as standard (e.g. bit in the control word that selects this
FCB is always TRUE). If all other FCBs are deactivated, FCB26 always becomes active.
This makes it possible to always stop with position control.
The FCB26 Stop at user limits has lag error monitoring in position-controlled mode. The
size of the maximum lag error window and error response 9885.5 is adopted from
FCB09 Positioning (page 361).
Parameter descrip-
tion
10445.5 Stop with Value range:
position control
• Yes
The drive decelerates with position control and then stops in hold control mode
• No
The drive decelerates with position control and then stops at zero speed.

f 9
i
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10445.1 Decelera- Value range: 1

tion source
• Local setpoint
3
This parameter sets the source for the deceleration of FCB Stop at user limits.
If the parameter is set to "local setpoint", the deceleration ramp will be parameter
4
10445.2 Deceleration local.
10445.2 Decelera- Unit: 10-2/min×s 5

tion local
Value range: 0 – 300000 – 2147483647, step 1
6
Maximum deceleration in user units.
7
10445.3 Jerk Value range:
source
• Local setpoint
8
• Application limit jerk 9
This parameter sets the source for the jerk of FCB 26 Stop at user limits.
If set to "local setpoint", the source will be parameter 10445.4 Local jerk. 10
10445.4 Local jerk Unit: 1/min×s2 11

Resolution:
Value range: 1 – 2147483647, step 1 12
Maximum jerk.
13
10445.6 Bit 0 stop Status information about parameter 10445.5 Stop with position control (mirror).
with position con- 14
trol active
15
10120.1 Velocity Unit: User units (default: rpm)
Resolution: 10-3 16
Value range: -2147483648 – 0 – 2147483647, step 1
Current actual velocity in user units. 17
9704.1 Position Unit: User unit (default: rev) 18

Resolution: 1/65536
Value range: -2147483648 – 0 – 2147483647, step 1 19
Current actual position in user units.
20
9839.1 Modulo Unit: User unit (default: rev)
position
Resolution: 1/65536
21
Value range: -2147483648 – 0 – 2147483647, step 1
22
Current actual modulo position in user units.

9 f
Parameter description for unit functions
i
P Hz
9.6 Parameter description for unit functions

9.6.1 Setup
9702.4 Active Value range:
parameter set
• 0 = None
• 1 = Parameter set 1
Displays the current parameter set.
10065.1 Select Value range:

parameter set
• 0 = No action
• 1 = Data set 1
• 2 = Data set 2
• 3 = Data set 3
Select parameter set.
9982.1 Software Value range:

activation
• 0 = Standard
• 1 = Special function
Software activation.
This parameter is currently without function. Preparations are being made to differenti-
ate between different software functions in the future.
The aim is to switch functions, which require a lot of computer processor power, on and
off.

f 9
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Reset unit parame- 1

ters
9873.1 Active fac- Value range: 2
tory setting
• 0 = None
• 1 = Basic initialization 3
• 2 = Delivery state
• 3 = Factory setting
4
5
Active factory setting. 6
This parameter shows the currently processed reset setting.
7
9727.3 Delivery Value range:
state "d1"
• 0 = No 8
• 1 = Yes
Delivery state 9
Activating this function will restore the delivery state of all parameters.
10
9727.4 Factory Value range:
setting "d2"
• 0 = No 11
• 1 = Yes
12
Factory setting.
Same as parameter "9727.3 Delivery state d1" (page 399) however, the parameters set 13
at motor startup are not set to default values.
The factory setting does not include:
14
• Motor data (for example, inductances)
• Both lists of the customer-specific factory setting, see parameter "9727.2 Customer- 15
specific factory setting d3/d4" (page 399).
The setting can be used to not having to start up the motor again. 16
8596.0 Reset sta- Value range: 0 – 3 17

tistic data
• 0 = No action
• 3 = Operating hours 18
The parameter Reset statistic data sets the two parameters 8328.0 Power-on hours and
8329.0 Enable hours back to zero. 19
20
21
22

9 f
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Passwords MOVIAXIS® offers a range of access levels for access to the unit parameters. These
levels include write and read authorization or, for example, read only authorization. The
different levels can be protected by passwords.
The passwords can be changed, for example, to allow end customers access to specific
parameters only.
At present, the following access levels are available:
1. Observer
The parameters can only be read and displayed.
2. Planning engineer
A PLANNING ENGINEER is a specialist who has complete access to all unit func-
tions.
3. OEM
The authorization level OEM-SERVICE can be used, for example, to reset internal
counters, program serial numbers, or import new firmware.
9591.50 Current Value range: 0 – 4294967295, step 1.

password level
• 20 = Lowerst (observer)
Is activated if the "planning engineer" password is active, see parameter 9591.20
Change planning engineer password (page 400).
• 40 = Medium level (operator = planning engineer)
If the "planning engineer" password is not activated or the "planning engineer" pass-
word was entered after a reset.
• 60 = Highest (OEM service)
Is reached by entering the OEM password. The OEM password can also be used to
change a forgotten "planning engineer" password, see parameter 9591.20 Change
planning engineer password (page 400).
Current password level.
This level is used to influence the write capability of parameters. When the product
leaves the plant, the "planning engineer" password is deactivated. This means that the
password level is automatically set to "40" = "planning engineer".
9591.40 – 43 Password level selection.

Enter password to
Once you have entered the password, the current password level is set according to the
set current level
password. After a reset, the system always selects the highest level which is not pass-
word protected.
9591.20 – 23 The "planning engineer" password can only be written when the current password level
Password for level of parameter 9591.50 (page 400) is ≥ 40. This means that the "planning engineer" pass-
40 (set "planning word can only be set if parameter 9591.50 Password level (page 400) is at least set to
engineer") "planning engineer" using the password selection parameter 9591.40 (page 400).
The "planning engineer" password is deactivated by entering an empty field.

f 9
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9.6.2 Overview of fault responses 1

Axis module
9729.1 Overtem- Value range: 2
perature response
3
4
The overtemperature error of the axis will be triggered if parameter 9811.5 Total utiliza- 5
tion (page 236) exceeds 100%.
Overtemperature response of the axis module. 6
The axis changes to controller inhibit state and activates the mechanical brake, if in- 7
stalled. If no brake is installed, the motor will coast to a stop. After a restart, the axis per-
forms a warm start. This means the axis is immediately ready to operate again (without
delay).
8
9
The motor is stopped along the emergency stop ramp. After a restart, the axis performs
a warm start. This means the axis is immediately ready to operate again (without delay).
10
The motor is stopped at the application limit. After a restart, the axis performs a warm 11
12
This means the axis is immediately ready to operate again (without delay).
13
14
15
16
17
18
19
20
21
22

9 f
i
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Power supply mod-

ule
9729.2 Tempera- Value range:
ture prewarning
• 0 = No response
response
Response to temperature prewarning of power supply module.
The temperature prewarning error is triggered when the temperature of the power sup-
ply module exceeds 85 °C.
The cut-off threshold is reached at 95 °C.
• No response
Fault is ignored
• Display only
The 7-segment display shows the fault but the axis does not respond (continues to
operate).
The axis changes to controller inhibit state and activates the mechanical brake, if in-
stalled. If no brake is installed, the motor will coast to a stop. After a restart, the axis per-
forms a warm start. This means the axis is immediately ready to operate again (without
delay).
The motor is stopped along the emergency stop ramp. After a restart, the axis performs
a warm start. This means the axis is immediately ready to operate again (without delay).
The motor is stopped at the application limit. After a restart, the axis performs a warm
This means the axis is immediately ready to operate again (without delay).

f 9
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9729.5 I×t pre- Value range: See parameter 9729.2 Temperature prewarning response (page 402) 1
warning response
Response to I×t prewarning of power supply module.
The fault "I×t prewarning power supply module" is triggered when the utilization has 2
reached 80% of the maximum utilization.
3
9729.12 Response Value range: See parameter 9729.9 Response TF / TH / KTY message (page 277).
I×t prewarning Response to I×t prewarning of the integrated braking resistor (with 10 kW power supply 4
internal braking module). This fault only affects the MXP81 power supply module.
resistor
5
9729.4 Line phase Value range: see parameter 9729.9 Response TF/TH/KTY message (page 277)
failure response
Response to line phase failure. 6
10
11
12
13
14
15
16
17
18
19
20
21
22

9 f
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9746.1 Power off Value range:

response
• 0 = DC link evaluation
• 1 = Supply system control with controller inhibit
• 2 = Supply system control and stop
• 3 = Supply system control and application stop
• 4 = Supply system control and system stop
• 5 = Supply system control and emergency stop
• 6 = DC link control and no response
• 7 = Rapid supply system control with output stage inhibit
• 8 = Rapid supply system control with stop
• 9 = Rapid supply system control with application stop
• 10 = Rapid supply system control and system stop
• 11 = Rapid supply system control and emergency stop
• 12 = Rapid supply system control and internal response
Power off response.
General definition of terms:
DC link control (ignore supply system failures):
See error response "0 = DC link evaluation" and "6 = DC link control and no response"
´Normal´ supply system control:
The 9702.1 Bit 30 "Power on" signal of the power supply module is set when the DC link
voltage is 240 V for the duration of 200 ms.
The 9702.1 Bit 30 "Power on" signal of the power supply module is deleted when 2 half
waves of the supply system are absent. This will cause a delay of > 10 ms.
Rapid supply system control:
As the DC link will lose nearly the entire load within milliseconds in the event of supply
system disconnection and full motor load, you have the option to use rapid supply sys-
tem control.
Rapid supply system control directly refers to the threshold parameter "9973.1 Power off
limit value" (page 407). The set response will be triggered immediately if the value falls
below this limit. The response will take effect within 0.5 ms. The status bit 9702.1 Bit 30
"Power on" is set to "FALSE" within 0.5 ms.
This function enables power-off responses that are gentle on the mechanical compo-
nents. This is realized by switching motors to regenerative operation very quickly. The
energy generated by the motors then backs up the DC link, which causes an electrical
deceleration ramp.
The brake is only applied when the actual speed is close to zero (bit "Motor at stand-
still"). It is also monitored whether the drive truly decelerates. If not, the brake is applied
immediately.

f 9
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• 0 = DC link evaluation 1
If the DC link voltage drops below the limit value 80 V and the unit is in "Power_on" state,
the DC link voltage will be averaged during 100 ms. 2
If the averaged DC link voltage reaches the limit value of 240 V after expiry of 100 ms,
the status will revert to 9702.1 Bit 30 "Power on". A system failure is compensated in this 3
way.
If the averaged DC link voltage drops below the limit value of 240 V after expiry of 100 4
ms, the state will change to "Power_off".
The ready signal changes to "not ready" when the 9702.1 Bit 30 "Power on" signal of the 5
power supply module is not present any longer and the "Power_off" state is detected.
The output stage is also inhibited as response to Power_off.
6
• 1 = Supply system control with output stage inhibit
Once the 9702.1 Bit 30 "Power on" signal of the power supply module disappears, the 7
brake is applied and the output stage is inhibited immediately. The ready signal changes
to "not ready".
8
• 2 = Supply system control and stop
When the 9702.1 Bit 30 "Power on" signal disappears, the drive is stopped immediately 9
at the set normal limits for torque and deceleration of the active FCB. The ready signal
is removed when the drive has come to a stop.
10
If the 9702.1 Bit 30 "Power on" signal appears again while the drive decelerates to a
stop, the stopping process will not be continued. The drive remains in "READY" state
and the current FCB will be active again. 11
• 3 = Supply system control and application stop
When the 9702.1 Bit 30 "Power on" signal disappears, the drive is stopped immediately
12
at the set application limits for torque and deceleration. The ready signal is removed
when the drive has come to a stop. 13
If the 9702.1 Bit 30 "Power on" signal appears again while the drive decelerates to a
stop, the stopping process will not be continued. The drive remains in "READY" state 14
and the current FCB will be active again.
• 4 = Supply system control and system stop 15
at the set system limits for torque and deceleration. The ready signal is removed when 16
the drive has come to a stop.
If the 9702.1 Bit 30 "Power on" signal appears again while the drive decelerates to a 17
and the current FCB will be active again.
18
• 5 = Supply system control and emergency stop
with the set emergency stop ramp for torque and deceleration. The ready signal is re-
19
moved when the drive has come to a stop.
If the 9702.1 Bit 30 "Power on" signal appears again while the drive decelerates to a 20
and the current FCB will be active again. 21
22

9 f
i
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• 6 = DC link control and no response

The DC link voltage is monitored as described under "0 = DC link evaluation". However,
a level of 20 V is used for power off detection, not a level of 80 V. This monitoring type
can be used when power off detection is to occur for a DC link that is almost empty.
• 7 = Rapid supply system control with output stage inhibit
The output stage is inhibited immediately if the DC link voltage falls below the value set
in parameter 9973.1 Adjustable power off limit value (page 407).
• 8 = Rapid supply system control and stop
If the DC link voltage falls below the value set in parameter "9973.1 Adjustable power
off limit value" (page 407), the drive will be stopped immediately using the limit set for
torque and deceleration of the active FCB. The ready signal is removed when the drive
has come to a stop.
• 9 = Rapid supply system control and application stop
If the DC link voltage falls below the value set in parameter "9973.1 Adjustable power
off limit value" (page 407), the drive will be stopped immediately using the set applica-
tion limit. The ready signal is removed when the drive has come to a stop.
• 10 = Rapid supply system control and system stop
If the DC link voltage falls below the value set in parameter 9973.1 Adjustable power off
limit value (page 407), the drive will be stopped immediately using the set system limit.
The ready signal is removed when the drive has come to a stop.
• 11 = Rapid supply system control and emergency stop
If the DC link voltage falls below the value set in parameter 9973.1 Adjustable power off
limit value (page 407), the drive will be stopped immediately using the deceleration set
for emergency stop. The ready signal is removed when the drive has come to a stop.
• 12 = Rapid supply system control and internal response
If the DC link voltage falls below the parameter 9973.1 Adjustable power off limit value
(page 407), there will be no direct response. The status bit 9702.1 Bit 30 "Power on"
must be evaluated by a higher-level controller (note bus runtimes).

f 9
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9973.1 Power OFF Resolution: 10-3. 1

limit value "Uz
Value range: 0 – 450 – 2048.
threshold for rapid
supply system con- Rapid supply system control is triggered at the set value. 2
trol See response parameter 9746.1 Power off (page 404).
3
9.6.3 Reset behavior
4
8617.0 Manual Value range:
reset
• 0 = No 5
• 1 = Yes
The current error is acknowledged when manual reset is set to Yes. 6
The error response of this current error defines the response to be triggered after a re-
set. 7
The error response can be "warm start", "system restart" or "CPU reset". For a detailed
description of these responses, refer to the operating instructions. 8
Is automatically reset to "No" after performing a reset (by setting to "Yes").
9
voltage ON level
Resolution: 10-3 10
default
Constant 240 V
This value indicates the DC link voltage of the device as of which it signals "ready", see 11
also parameter 9973.2.
12
voltage ON level 13
Resolution: 10-3
user value
Value range: 0.0 – 0.0 – 2048
If this value is unequal 0.0, the DC link ON level default is overwritten and the user value 14
will be active.
15
voltage OFF level 16
Resolution: 10-3
default
Constant 80 V
Below this DC link voltage, the device goes to 24 V standby mode and revokes the
17
"ready" signal, see also parameter 9973.3
18
voltage OFF level 19
Resolution: 10-3
user value
Value range: 0.0 – 0.0 – 2048
20
If this value is unequal 0.0, the DC link OFF level default is overwritten and the user
value will be active.
21
22

Project planning
10 SEW Workbench
10 Project planning
10.1 SEW Workbench
"SEW Workbench" provides the user with a central interface to compile complex drive
systems from individual SEW components. It allows the user to create complex drive
systems for "control cabinet technology" or "decentralized technology" from SEW com-
ponents such as drives, servo inverters, cables, field distributors, etc. using the drag and
drop function.
Key features of "SEW Workbench":
• Application selection
• Calculation of gear unit and motor
• Price-optimized project planning
• Comparison of different solutions
• Recommendation of "best drive" solution
• Inverter calculation
• Multi-axis optimization
• Configuration of cables and accessories
• Configuration error check
• Parts list generation
• Electronic catalog with all products
The user has the option to access existing functions and programs such as EKAT, SAP
Configurator and ProDrive as well as to use new functions.
Servo
ProDrive project DocuFinder DriveCAD
planning
Oil fill quantity Electronic

determination catalog
Office
Printing interface
1693406219
"SEW Workbench" allows you to perform an initial compatibility check of different com-
ponents, i.e. to determine whether a servo inverter, cable and drive can be configured
and designed for this combination.

Project planning
SEW Workbench
10
10.1.1 SEW Workbench functions 1

Different catalog functions and project planning functions are available for selecting in-
dividual components. Each component is represented in the work area by a graphical 2
object, see illustration below. The sum of the objects together is the drive system. A
complete check is performed for all products after the user has created the complete
drive system. 3
The "SEW Workbench" generates a drive system including a product list tested and ap-
proved according to SEW rules. 4
The drive systems (product lists) created in the "SEW Workbench" can be saved as a
project file and called up again. This allows data exchange and further processing by 5
another "Workbench user".
6
10
11
12
13
14
15
16
17
18
19
1693410827
20
21
22

Project planning
10 Project planning information
10.2 Project planning information

The following text describes the procedure for projecting a MOVIAXIS® MX multi-axis
servo inverter.
For detailed information about project planning for a supply and regenerative module,
refer to the "MXR Supply and Regenerative Module" manual.
10.2.1 Project planning for a power supply module

The size of a power supply module is determined by the
• Maximum operating point: Pmax < 250% PN.
• Total effective power of all axis modules: Prms < PN, motoring and regenerative.
• Continuous power toward the braking resistor: The continuous power must not ex-
ceed 50% or the nominal power of the power supply module.
• The sum rule: The total sum of all nominal currents of the axis modules must not ex-
ceed twice, or under certain circumstances three times, the nominal DC link current
of the power supply module. See also chapter "Selection table for power supply mod-
ule with/without line choke" (page 411).
• The axis modules are assigned to the power supply modules according to their max-
imum current:
• 10 kW module (MXP80A-010): 16 A axis
The nominal power of the power supply module refers to the effective power; that is, the
magnetization currents of the motors need not be taken into account in this case.
INFORMATION
Important: The total power (DC link power) is the result of the overlapping cycles of the
individual connected axis modules.
Changing the assignment of cycles with respect to time strongly influences the motor
and regenerative load of the power supply module.
It is necessary to take a worst-case scenario into account.
A line choke is necessary under certain line conditions. See table in the following chap-
ter.
Due to the complexity, the calculation can only be made using software. This software
is part of the "SEW Workbench".

Project planning
Project planning information
10
Selection table for The specified line conditions require a line choke: 1
power supply mod-
Maximum sum of line
ule with/without Applies to power sup-
line choke
Line voltage currents of all axis
ply module
Line choke required 2
modules
380 - 400 V ± 10 % 300 % all No
> 400 - 500 V ± 10% 300 % all Yes
3
380 - 500 V ± 10 % 200 % all No
4
10.2.2 Project planning for axis module
5
The size of an axis module is determined by the
• Maximum operating point. 6
• The individual utilization curves are:
– Dynamic utilization 7
– Electromechanical utilization
– Thermal utilization 8
The utilization is indicated in percent and has to be < 100%. Due to the complexity of the
curves, the calculation can only be made using software. This software is part of the 9
"SEW Workbench".
The following values can be assumed as corner points for overload behavior: 10
2 – 16 A axes (4 kHz PWM frequency, rotating field of unit > 2 Hz)
11
Nominal axis current Overload time Repeatability1)
250% For 1 s Every 8 s
200 % For 2 s Every 12 s
12
150 % For 6 s Every 20 s
1) After this rest period, the axis can be overloaded again.
13
14
24 – 100 A axes (4 kHz PWM frequency, rotating field of unit > 2 Hz)
Nominal axis current Overload time Repeatability1) 15
200% For 8 s Every 25 s 16
1) After this rest period, the axis can be overloaded again. 17
Output currents for The thermal model of MOVIAXIS® dynamically limits the maximum output current. The 18
low rotational field maximum continuous output current ID is dependent on the PWM cycle frequency and
frequencies the output frequency fA. 19
It is particularly important to consider output frequencies fOutput < 2 Hz for:
• Electrically stopping hoists 20
• Torque control at low speeds or at a standstill
21
22

Project planning
INFORMATION
The output frequency of the servo inverter when used with asynchronous motors is
made up of the rotational frequency (= speed) and the slip frequency.
With synchronous motors, the output frequency of the servo inverter is the same as
the rotational frequency of the synchronous motor.
PWM 4 kHz and

8 kHz
140
Continuous output current [%]
130
120
[2]
110
[1]
100
90 [3]
80
70
60
0 0.5 1 1.5 2 2.5
Rotating field of unit [Hz]
1693621899
[1] Axis modules sizes 1 and 2 for PWM 4 kHz and 8 kHz
[2] Axis modules sizes 3, 4, 5, 6 for PWM 4 kHz
[3] Axis modules sizes 3, 4, 5, 6 for PWM 8 kHz
PWM 16 kHz
70
[1]
Continuous output current [%]
65
60
[2]
55
[3]
50
45
40
0 1 2
Rotating field of unit [Hz]
1693625355
[1] Axis modules sizes 1 and 2

[2] 24 A (size)
[3] 32 A (size)

Project planning
10
10.2.3 Arrangement of modules in a network of units 1

Arrangement of axes
2
INFORMATION
Please note that no more than 8 axis modules can be used in an axis system.
3
4
Arrangement example of an axis system:
MXC/ 5
MXM MXB MXP MXA MXA MXA MXA MXA MXA MXS
7
8A
100 A 64 A 48 A 32 A 16 A 4 A 24 V
24 A 12 A 2 A 8
10
1693649803
MXM Master module, assembly MXP Power supply module, sizes 1-3 11
MXC Capacitor module, assembly MXA Axis modules, sizes 1-6
MXB Buffer module, assembly MXS 24 V switched-mode power supply module,
assembly 12
MXM master mod- Arrange the master module as the first unit in the axis system. 13
ule The master module is a component.
14
MXC capacitor Arrange the capacitor module to the left of the power supply module in the axis system.
module 15
The capacitor module is an additional component.
MXB buffer module Arrange the buffer module to the left of the power supply module in the axis system. 16
The buffer module is a component.
17
MXP power sup- Arrange the power supply module to the left of the axis module in the axis system.
ply module 18
MXR supply and For information about the placement of a supply and regenerative module, refer to the 19
regenerative mod- manuals "Supply and Regenerative Module - MXR80" and "Supply and Regenerative
ule Module - MXR81"
20
21
22

Project planning
MXA axis modules
NOTICE
Note that the electric performance of the axes has to decrease from left to right.
The following applies:
IMXA 1 ≥ IMXA 2 ≥ IMXA 3 ≥ IMXA 4 ... ≥ IMXA 8
The axis modules have to be arranged according to their nominal current, starting on the
right side of the power supply module, so that their nominal current decreases from left
to right (page 413).
MXS 24 V Arrange the 24 V switched-mode power supply module to the right of the last axis mod-
switched-mode ule in the axis system (page 413).
power supply mod-
The 24 V switched-mode power supply is a component.
ule

Project planning
10
10.2.4 Combinable modules in case of two-row configuration of the axis system 1

The two-row configuration is only permitted with the units listed in this system
manual. 2
CAUTION
3
Make sure to install as many MXA axis modules as possible in the lower row, before
you install a maximum of 4 MXA axis modules of size 1 or 2 in the upper row.
4
The maximum number of 8 MXA axis modules per power supply module may not be
exceeded.
5
Combinable units:
The following figure shows an example of a two-row configuration for MOVIAXIS® mod- 6
ules.
7
[1]
[3] [3] 8
10
11
[2] [4] [4] [4] 12
13
14
15
16
[5] [6]
17
®
The following MOVIAXIS modules can be combined:
• [1] One MXM master module 18
• [2] One MXR supply and regenerative module or one MXP power supply module
19
• [3] A maximum of 4 MXA axis modules of size 1 or size 2
• [4] MXA axis modules of size 1 – 6
20
• [5] One line choke for MXR
• [6] One line filter for MXR 21
The number and size of the modules are determined in project planning.
22

Project planning
10 Control characteristics of the axis modules
10.2.5 Module combinations with a BST brake module

modules:
In an axis system, a power supply module can be combined with the following
MOVIAXIS® modules:
• MXA axis module
• Master module
10.3 Control characteristics of the axis modules

10.3.1 Characteristic values of the controllers
MOVIAXIS® multi-axis servo inverters achieve excellent control characteristics thanks
to their optimally adapted control algorithms. The following characteristic values apply
for the operation of synchronous servomotors from SEW-EURODRIVE.
n
Transient recovery time
Rotational accuracy
nSet
Maximum
Speed deviation
M t
Load step change M = 80 % of nominal motor torque
t
1693660427
®
The following applies to MOVIAXIS multi-axis servo inverters in combination with mo-
tors of the same power rating:
Continuous setting range nmax Static control accuracy1) based
MOVIAXIS® type
= 3000 rpm on nmax = 3000 rpm
MXA80A with resolver > 1:3000 0.01%
MXA80A with Hiperface encoder 1:5000 0.01%
1) = Deviation of actual speed value / average speed value from speed setpoint
The defined control characteristics are maintained in the specified speed range.

Project planning
Control characteristics of the axis modules
10
10.3.2 Control behavior 1

The following assignment is an example of the different control responses.
Max. speed deviation at ∆M = Rotational accuracy at M = con-
2
MOVIAXIS® type 80%, based on n = 3000 rpm stant, based on
n = 3000 rpm
3
MXA80A with TTL sensor (1024
1.0% ≤ 0.07%
increments)
MXA80A with sin/cos encoder 0.7% ≤ 0.03% 4
5
Specifications • Setpoint speed nset = 1000 rpm.
• Step change in load ∆M = 80% of motor torque.
6
• Torsion-free load with mass moment of inertia ratio JL/JM = 1.8.
7
10
11
12
13
14
15
16
17
18
19
20
21
22

Project planning
10 Servomotor selection
10.4 Servomotor selection
NOTICE
The torque limit (M limit) is set automatically by the startup function of the
MOVITOOLS® MotionStudio engineering software.
Do not increase this automatically set value.
Setting a torque limit that is too high can damage the servomotor.
We recommend always using the latest version of MOVITOOLS MotionStudio for
startup. The latest MOVITOOLS® version can be downloaded from our website at
"www.sew-eurodrive.com".
10.4.1 Characteristics of synchronous servomotors

The demands made on a servo drive include speed dynamics, stable speed, and posi-
tioning accuracy. The synchronous servomotors CMP and CMDV and the asynchro-
nous servomotors DRL fulfill these requirements in connection with MOVIAXIS®.
Technically speaking, these are synchronous motors with permanent magnets on the
rotor and an integrated encoder. Required characteristics:
• Constant torque over a broad speed range (up to 6000 rpm)
• High speed and control range
• High overload capacity
This is achieved with MOVIAXIS® control. The mass moment of inertia of the synchro-
nous servomotor is lower than that of the asynchronous motor. For this reason, these
motors are optimally suited to applications requiring dynamic speeds.
M [Nm]
[2]
Mmax
M0 [1]
0 -1
0 nN n [min ]
1693692555
[1] Continuous torque

[2] Maximum torque
M0 und Mmax are determined by the motor. The attainable Mmax can also be less, de-
pending on the servo inverter.
Refer to the motor tables of this system manual for the values for M0.
Refer to the motor selection tables (page 422) for the values for Mmax.
10.4.2 Features of asynchronous servomotors

Asynchronous servomotors of the DRL series are a drive package made up from the
many options of the modular DR motor system.

Project planning
Servomotor selection
10
Typical speed-torque characteristics: 1

MN is determined by the motor. Mmax and nbase depend on the motor/servo inverter
combination. You can refer to the motor selection tables for the values of ntrans, MN and 2
Mmax.
3
DRL 71M4 n = 1200 1/min 100%IN
16
4
14 Mpeak2
5
12
4A
10
6
M in Nm
8 7
Mpeak1
6
2A 8
S1+ V
4
9
2 S1
10
0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
n in 1/min 11
2326553995
12
Magnetization cur- Dynamic drives that have to accelerate without a delay are also energized at standstill
rent without load. The magnetizing current Id flows at standstill.
13
The servo inverter must be able to supply this current constantly in applications in which
the output stage is permanently enabled, for example in "Hold control" mode.
14
Particularly in the case of large motors with a slip frequency ≤ 2 Hz, you have to refer to
the diagrams in chapter "Output currents for low rotational field frequencies" (page 411)
to check whether the servo inverter can supply the current. 15
Also check whether the thermal characteristics of the motor are suitable (forced cooling
fan) for this. The magnetization current Id is specified in the "SEW Workbench". 16
17
18
19
20
21
22

Project planning
Dynamics AC motors operated on the supply system usually have an overload capacity of 160% –
180% of the nominal torque during startup.
If the motor is operated on an inverter of the same power, the inverter usually provides
150% current, and thus roughly 150% torque, for 60 seconds during startup. If a larger
inverter is selected, the inverter can provide a higher current and theoretically a greater
torque as well. In this case, the mechanical resistance of the motor against the overload,
which might reach or exceed the permitted limit values, must be checked.
The mechanical design of asynchronous servomotors of the DRL series is of such a high
quality that dynamic overload values can be reached which exceed the classical values
of an asynchronous motor operated on a supply system or inverter and almost match
the values of a synchronous servomotor.
SEW-EURODRIVE offers the DRL motors in two dynamics packages:
Stack Overload capacity to nominal torque
Dynamics 1 (D1) 190% – 220%
Dynamics 2 (D2) 300% – 350%
The nameplate of the motor specifies the data of the respective dynamics package.
Speeds SEW-EURODRIVE offers the DRL servomotors with 4 speed ratings:

• 1200 rpm
• 1700 rpm
• 2100 rpm
• 3000 rpm
In inverter operation, field weakening begins at the rated speed.
Inverter combinations
The DRL motors are optimally adapted to operation on MOVIAXIS® servo inverters.
Usually, the selection diagrams offer several inverter sizes. The size of the inverter
which fits perfectly is based on the application data and project planning.

Project planning
10
10.4.3 Project planning for a synchronous servomotor 1

Project planning for a synchronous motor is carried out in accordance with the following
requirements: 2
1. Effective torque requirement at effective application speed 3

Mr.m.s. < MN_mot
4
The operating point must lie below the characteristic curve for the continuous torque.
The continuous torque can be increased by forced cooling if the operating point lies
above the characteristic curve for self-cooling. 5
2. Maximum torque required across the speed curve 6

Mmax < Mdyn_mot
7
This operating point must lie below the characteristic curve for the maximum torque
of the motor/MOVIAXIS® combination.
8
3. Maximum speed
9
The maximum speed must not be dimensioned higher than the rated speed of the
motor. Planetary gear units should be used for speeds greater than 3000 rpm as a
result of the high input speed.
10
nmax ≤ nN
11
10.4.4 Project planning for an asynchronous servomotor

12
Project planning for an asynchronous motor is carried out in accordance with the follow-
ing requirements:
13
1. Effective torque requirement at average application speed
Mr.m.s. < MN_mot 14
The operating point must lie below the characteristic curve for the continuous torque.
No forced cooling is required if this operating point lies below the characteristic curve 15
for self-cooling (S1).
16
2. Maximum torque required across the speed curve
Mmax < Mdyn_mot 17
This operating point must lie below the characteristic curve for the maximum torque
of the motor/MOVIAXIS® combination. 18
3. Maximum speed 19
Do not configure the maximum speed of the motor higher than 1.4 times the transi-
tion speed. The maximum torque available will then still be approx. 110% of the con- 20
tinuous nominal torque of the motor; also, the input speed for the gear unit connected
to the motor output will still be less than 3000 rpm with delta connection. 21
nmax < 1.4 × nbase < 3000 rpm
22

Project planning
10.4.5 Motor selection for CMP synchronous servomotors

Nominal speed nN = 2000 rpm, PWM 4 kHz
Motor MOVIAXIS® assignment
Size 1 2 3 4 5 6
IN A 2 4 8 12 16 24 32 48 64 100
Imax A 5 10 20 30 40 60 80 120 160 250
Imax % IN 250 212
CMP71S
Nm 15.7 19.2
Mpk
(lb in) (139) (170)
Imax % IN 250 250 217
CMP71M
Nm 17.6 27.4 30.8
Mpk
(lb in) (156) (243) (273)
Imax % IN 250 250
CMP71L
Nm 36.1 43.9
Mpk
(lb in) (320) (389)
Imax % IN 250 250 206
CMP80S
Nm 34.0 40.5 42.1
Mpk
(lb in) (301) (359) (373)
Imax % IN 250 250 250
CMP80M
Nm 38.2 51.1 58.7
Mpk
(lb in) (338) (453) (520)
Imax % IN 250 250 250
CMP80L
Nm 61.3 77.0 98.7
Mpk
(lb in) (543) (682) (874)
Imax % IN 250 250 250 216
CMP100M
Nm 61.4 78.0 101 108
Mpk
(lb in) (544) (691) (895) (957)
Imax % IN 250 250 235
CMP100L
Nm 121 148 179
Mpk
(lb in) (1072) (1311) (1585)
Imax % IN 250 250 212
CMP112S
Nm 60.3 75.5 88.0
Mpk
(lb in) (534) (669) (779)
Imax % IN 250 250 231
CMP112M
Nm 85.2 118 136
Mpk
(lb in) (755) (1045) (1205)
Imax % IN 250 250 250
CMP112L
Nm 126 161 219
Mpk
(lb in) (1116) (1426) (1940)
Imax % IN 250 250 250 231
CMP112H
Nm 129 168 234 270
Mpk
(lb in) (1143) (1488) (2072) (2391)
Imax % IN 250 250 250 250 175
CMP112E
Nm 129 170 241 299 320
Mpk
(lb in) (1143) (1506) (2134) (2648) (2834)

Project planning
10
Nominal speed nN = 3000 rpm, PWM 4 kHz 1

Size 1 2 3 4 5 6
IN A 2 4 8 12 16 24 32 48 64 100
2
Imax A 5 10 20 30 40 60 80 120 160 250
CMP40S
Imax % IN 250 3
Nm 1.70
Mpk
(lb in) (15.1)
Imax % IN 250
4
CMP40M
Nm 3.44
Mpk
(lb in) (30.5) 5
Imax % IN 250
CMP50S
Nm 5.13
Mpk
(lb in) (45.4) 6
Imax % IN 250 240
CMP50M
Nm 6.57 10.3 7
Mpk
(lb in) (58.2) (91.2)
Imax % IN 250 250
CMP63S
Nm 6.19 9.86 8
Mpk
(lb in) (54.8) (87.3)
Imax % IN 250 250
CMP50L 9
Nm 7.19 12.7
Mpk
(lb in) (63.7) (112)
CMP63M
Imax % IN 250 250 10
Nm 13.3 20.7
Mpk
(lb in) (118) (183)
Imax % IN 250 250
11
CMP63L
Nm 13.8 23.9
Mpk
(lb in) (122) (212) 12
Imax % IN 250 250
CMP71S
Nm 12.2 18.1
Mpk
(lb in) (108) (160) 13
Imax % IN 250 250 244
CMP71M
Nm 21.9 27.4 30.8 14
Mpk
(lb in) (194) (243) (273)
Imax % IN 250 250 250
CMP71L
Nm 26.4 36.2 42.2 15
Mpk
(lb in) (234) (321) (374)
Imax % IN 250 250 250 196
CMP80S 16
Nm 25.9 34.7 39.3 42.1
Mpk
(lb in) (229) (307) (348) (373)
CMP80M
Imax % IN 250 250 250 216 17
Nm 39.5 48.8 59.6 62.6
Mpk
(lb in) (350) (432) (528) (554)
Imax % IN 250 250 250
18
CMP80L
Nm 55.5 77.2 92.9
Mpk
(lb in) (492) (684) (823) 19
Imax % IN 250 250 212
CMP100M
Nm 78.7 95.4 108
Mpk
(lb in) (697) (845) (957) 20
Imax % IN 250 250 250 250
CMP100L
Nm 86.0 111 149 175 21
Mpk
(lb in) (762) (983) (1320) (1550)
Imax % IN 250 250 231
CMP112S
Nm 55.5 76.6 88.0 22
Mpk
(lb in) (492) (678) (779)

Project planning

Size 1 2 3 4 5 6
IN A 2 4 8 12 16 24 32 48 64 100
Imax A 5 10 20 30 40 60 80 120 160 250
Imax % IN 250 250 235
CMP112M
Nm 84.1 106 136
Mpk
(lb in) (745) (939) (1205)
Imax % IN 250 250 250 183
CMP112L
Nm 114 163 203 225
Mpk
(lb in) (1010) (1444) (1798) (1993)
Imax % IN 250 250 250 220
CMP112H
Nm 115 168 214 270
Mpk
(lb in) (1019) (1488) (1895) (2391)
Imax % IN 250 250 250
CMP112E
Nm 174 224 314
Mpk
(lb in) (1541) (1984) (2781)

Project planning
10

Size 1 2 3 4 5 6
IN A 2 4 8 12 16 24 32 48 64 100
2
Imax A 5 10 20 30 40 60 80 120 160 250
CMP40S
Imax % IN 250 3
Nm 1.70
Mpk
(lb in) (15.1)
Imax % IN 250
4
CMP40M
Nm 3.44
Mpk
(lb in) (30.5) 5
Imax % IN 250
CMP50S
Nm 4.19
Mpk
(lb in) (37.1) 6
Imax % IN 250 250
CMP50M
Nm 5.02 8.75 7
Mpk
(lb in) (44.5) (77.5)
Imax % IN 250
CMP63S
Nm 7.96 8
Mpk
(lb in) (70.5)
Imax % IN 250
CMP50L 9
Nm 9.60
Mpk
(lb in) (85.0)
CMP63M
Imax % IN 250 250 10
Nm 16.4 20.7
Mpk
(lb in) (145) (183)
Imax % IN 250 250 250
11
CMP63L
Nm 18.7 25.2 29.8
Mpk
(lb in) (166) (223) (264) 12
Imax % IN 250 250 238
CMP71S
Nm 15.0 18.2 19.2
Mpk
(lb in) (133) (161) (170) 13
Imax % IN 250 250 238
CMP71M
Nm 22.4 26.4 30.8 14
Mpk
(lb in) (198) (234) (273)
Imax % IN 250 250 250 250
CMP71L
Nm 26.4 33.3 42.2 45.8 15
Mpk
(lb in) (234) (295) (374) (406)
Imax % IN 250 250 250 228
CMP80S 16
Nm 25.5 31.8 39.0 42.1
Mpk
(lb in) (226) (282) (345) (373)
CMP80M
Imax % IN 250 250 250 215 17
Nm 35.8 48.8 56.9 62.6
Mpk
(lb in) (317) (432) (504) (554)
Imax % IN 250 250 250 248
18
CMP80L
Nm 56.0 71.1 93.4 107
Mpk
(lb in) (496) (630) (827) (948) 19
Imax % IN 250 250 250 241
CMP100M
Nm 55.2 71.0 94.7 108
Mpk
(lb in) (489) (629) (839) (957) 20
Imax % IN 250 250 250 250
CMP100L
Nm 77.2 111 138 179 21
Mpk
(lb in) (684) (983) (1222) (1585)
Imax % IN 250 250 233
CMP112S
Nm 55.5 70.3 88.0 22
Mpk
(lb in) (492) (623) (779)

Project planning

Size 1 2 3 4 5 6
IN A 2 4 8 12 16 24 32 48 64 100
Imax A 5 10 20 30 40 60 80 120 160 250
Imax % IN 250 250 250
CMP112M
Nm 77.2 108 133
Mpk
(lb in) (684) (957) (1178)
Imax % IN 250 250 250
CMP112L
Nm 115 148 210
Mpk
(lb in) (1019) (1311) (1860)
Imax % IN 250 250 250
CMP112H
Nm 114 150 220
Mpk
(lb in) (1010) (1328) (1948)
Imax % IN 250 250
CMP112E
Nm 155 231
Mpk
(lb in) (1373) (2046)

Project planning
10

Size 1 2 3 4 5 6
IN A 2 4 8 12 16 24 32 48 64 100
2
Imax A 5 10 20 30 40 60 80 120 160 250
CMP40S
Imax % IN 250 3
Nm 1.70
Mpk
(lb in) (15.1)
Imax % IN 250
4
CMP40M
Nm 3.12
Mpk
(lb in) (27.6) 5
Imax % IN 250 225
CMP50S
Nm 3.46 5.20
Mpk
(lb in) (30.6) (46.1) 6
Imax % IN 250
CMP50M
Nm 7.19 7
Mpk
(lb in) (63.7)
Imax % IN 250 250
CMP63S
Nm 6.67 10.4 8
Mpk
(lb in) (59.1) (92.1)
Imax % IN 250 250
CMP50L 9
Nm 7.49 13.1
Mpk
(lb in) (66.3) (116)
CMP63M
Imax % IN 250 250 250 10
Nm 13.7 18.1 21.1
Mpk
(lb in) (121) (160) (187)
Imax % IN 250 250 250
11
CMP63L
Nm 14.5 20.3 25.0
Mpk
(lb in) (128) (180) (221) 12
Imax % IN 250 250 250
CMP71S
Nm 12.4 16.2 18.3
Mpk
(lb in) (110) (143) (162) 13
Imax % IN 250 250 250 238
CMP71M
Nm 17.9 22.2 27.7 30.8 14
Mpk
(lb in) (159) (197) (245) (273)
Imax % IN 250 250 250
CMP71L
Nm 26.4 36.2 42.2 15
Mpk
(lb in) (234) (321) (374)
Imax % IN 250 250 250 198
CMP80S 16
Nm 25.9 34.7 39.3 42.1
Mpk
(lb in) (229) (307) (348) (373)
CMP80M
Imax % IN 250 250 250 17
Nm 40.0 49.2 59.9
Mpk
(lb in) (354) (436) (531)
Imax % IN 250 250 250 250
18
CMP80L
Nm 42.5 55.3 76.9 92.7
Mpk
(lb in) (376) (490) (681) (821) 19
20
21
22

Project planning
Nominal speed nN = 2000 rpm, PWM 8 kHz

Size 1 2 3 4 5 6
IN A 2 4 8 12 16 24 32 48 64 100
Imax A 5 10 20 30 40 60 80 120 160 250
Imax % IN 250 212
CMP71S
Nm 15.7 19.2
Mpk
(lb in) (139) (170)
Imax % IN 250 250 217
CMP71M
Nm 17.6 27.4 30.8
Mpk
(lb in) (156) (243) (273)
Imax % IN 250 250
CMP71L
Nm 36.1 43.9
Mpk
(lb in) (320) (389)
Imax % IN 250 250 206
CMP80S
Nm 34.0 40.5 42.1
Mpk
(lb in) (301) (359) (373)
Imax % IN 250 250 250
CMP80M
Nm 38.2 51.1 58.7
Mpk
(lb in) (338) (453) (520)
Imax % IN 250 250 250
CMP80L
Nm 61.3 77.0 98.7
Mpk
(lb in) (543) (682) (874)
Imax % IN 250 250 250 216
CMP100M
Nm 61.4 78.0 101 108
Mpk
(lb in) (544) (691) (895) (957)
Imax % IN 250 250 235
CMP100L
Nm 121 148 179
Mpk
(lb in) (1072) (1311) (1585)
Imax % IN 250 250 212 159
CMP112S
Nm 60.3 75.5 88.0 88.0
Mpk
(lb in) (534) (669) (779) (779)
Imax % IN 250 250 231 154
CMP112M
Nm 85.2 118 136 136
Mpk
(lb in) (755) (1045) (1205) (1205)
Imax % IN 250 250 250 194
CMP112L
Nm 126 161 219 225
Mpk
(lb in) (1116) (1426) (1940) (1993)
Imax % IN 250 250 212 159
CMP112H
Nm 60.3 75.5 88.0 88.0
Mpk
(lb in) (534) (669) (779) (779)
CMP112S Imax % IN 250 250 231 154
Nm 85.2 118 136 136
Mpk
(lb in) (755) (1045) (1205) (1205)

Project planning
10

Size 1 2 3 4 5 6
IN A 2 4 8 12 16 24 32 48 64 100
2
Imax A 5 10 20 30 40 60 80 120 160 250
CMP40S
Imax % IN 250 3
Nm 1.70
Mpk
(lb in) (15.1)
Imax % IN 250
4
CMP40M
Nm 3.44
Mpk
(lb in) (30.5) 5
Imax % IN 250
CMP50S
Nm 5.13
Mpk
(lb in) (45.4) 6
Imax % IN 250 240
CMP50M
Nm 6.57 10.3 7
Mpk
(lb in) (58.2) (91.2)
Imax % IN 250 250
CMP63S
Nm 6.19 9.86 8
Mpk
(lb in) (54.8) (87.3)
Imax % IN 250 250
CMP50L 9
Nm 7.19 12.7
Mpk
(lb in) (63.7) (112)
CMP63M
Imax % IN 250 250 10
Nm 13.3 20.7
Mpk
(lb in) (118) (183)
Imax % IN 250 250
11
CMP63L
Nm 13.8 23.9
Mpk
(lb in) (122) (212) 12
Imax % IN 250 250
CMP71S
Nm 12.2 18.1
Mpk
(lb in) (108) (160) 13
Imax % IN 250 250 244
CMP71M
Nm 21.9 27.4 30.8 14
Mpk
(lb in) (194) (243) (273)
Imax % IN 250 250 250
CMP71L
Nm 26.4 36.2 42.2 15
Mpk
(lb in) (234) (321) (374)
Imax % IN 250 250 250 196
CMP80S 16
Nm 25.9 34.7 39.3 42.1
Mpk
(lb in) (229) (307) (348) (373)
CMP80M
Imax % IN 250 250 250 216 17
Nm 39.5 48.8 59.6 62.6
Mpk
(lb in) (350) (432) (528) (554)
Imax % IN 250 250 250
18
CMP80L
Nm 55.5 77.2 92.9
Mpk
(lb in) (492) (684) (823) 19
Imax % IN 250 250 212
CMP100M
Nm 78.7 95.4 108
Mpk
(lb in) (697) (845) (957) 20
Imax % IN 250 250 250
CMP100L
Nm 111 149 175 21
Mpk
(lb in) (983) (1320) (1550)
Imax % IN 250 250 231 154
CMP112S
Nm 55.5 76.6 88.0 88.0 22
Mpk
(lb in) (492) (678) (779) (779)

Project planning

Size 1 2 3 4 5 6
IN A 2 4 8 12 16 24 32 48 64 100
Imax A 5 10 20 30 40 60 80 120 160 250
Imax % IN 250 250 235 177
CMP112M
Nm 84.1 106 136 136
Mpk
(lb in) (745) (939) (1205) (1205)
Imax % IN 250 250 183
CMP112L
Nm 163 203 225
Mpk
(lb in) (1444) (1798) (1993)
Imax % IN 250 250 220
CMP112H
Nm 168 214 270
Mpk
(lb in) (1488) (1895) (2391)
Imax % IN 250 250 250
CMP112E
Nm 174 224 314
Mpk
(lb in) (1541) (1984) (2781)

Project planning
10

Size 1 2 3 4 5 6
IN A 2 4 8 12 16 24 32 48 64 100
2
Imax A 5 10 20 30 40 60 80 120 160 250
CMP40S
Imax % IN 250 3
Nm 1.70
Mpk
(lb in) (15.1)
Imax % IN 250
4
CMP40M
Nm 3.44
Mpk
(lb in) (30.5) 5
Imax % IN 250
CMP50S
Nm 4.19
Mpk
(lb in) (37.1) 6
Imax % IN 250 250
CMP50M
Nm 5.02 8.75 7
Mpk
(lb in) (44.5) (77.5)
Imax % IN 250
CMP63S
Nm 7.96 8
Mpk
(lb in) (70.5)
Imax % IN 250
CMP50L 9
Nm 9.60
Mpk
(lb in) (85.0)
CMP63M
Imax % IN 250 250 10
Nm 16.4 20.7
Mpk
(lb in) (145) (183)
Imax % IN 250 250 250
11
CMP63L
Nm 18.7 25.2 29.8
Mpk
(lb in) (166) (223) (264) 12
Imax % IN 250 250 238
CMP71S
Nm 15.0 18.2 19.2
Mpk
(lb in) (133) (161) (170) 13
Imax % IN 250 250 238
CMP71M
Nm 22.4 26.4 30.8 14
Mpk
(lb in) (198) (234) (273)
Imax % IN 250 250 250 250
CMP71L
Nm 26.4 33.3 42.2 45.8 15
Mpk
(lb in) (234) (295) (374) (406)
Imax % IN 250 250 250 228
CMP80S 16
Nm 25.5 31.8 39.0 42.1
Mpk
(lb in) (226) (282) (345) (373)
CMP80M
Imax % IN 250 250 250 215 17
Nm 35.8 48.8 56.9 62.6
Mpk
(lb in) (317) (432) (504) (554)
Imax % IN 250 250 250 248
18
CMP80L
Nm 56.0 71.1 93.4 107
Mpk
(lb in) (496) (630) (827) (948) 19
Imax % IN 250 250 241
CMP100M
Nm 71.0 94.7 108
Mpk
(lb in) (629) (839) (957) 20
Imax % IN 250 250 250
CMP100L
Nm 111 138 179 21
Mpk
(lb in) (983) (1222) (1585)
Imax % IN 250 250 233 175
CMP112S
Nm 55.5 70.3 88.0 88.0 22
Mpk
(lb in) (492) (623) (779) (779)

Project planning

Size 1 2 3 4 5 6
IN A 2 4 8 12 16 24 32 48 64 100
Imax A 5 10 20 30 40 60 80 120 160 250
Imax % IN 250 250 168
CMP112M
Nm 108 133 136
Mpk
(lb in) (957) (1178) (1205)
Imax % IN 250 250
CMP112L
Nm 148 210
Mpk
(lb in) (1311) (1860)
Imax % IN 250 250
CMP112H
Nm 150 220
Mpk
(lb in) (1328) (1948)
Imax % IN 250
CMP112E
Nm 231
Mpk
(lb in) (2046)

Project planning
10

Size 1 2 3 4 5 6
IN A 2 4 8 12 16 24 32 48 64 100
2
Imax A 5 10 20 30 40 60 80 120 160 250
CMP40S
Imax % IN 250 3
Nm 1.70
Mpk
(lb in) (15.1)
Imax % IN 250
4
CMP40M
Nm 3.12
Mpk
(lb in) (27.6) 5
Imax % IN 250 225
CMP50S
Nm 3.46 5.20
Mpk
(lb in) (30.6) (46.1) 6
Imax % IN 250
CMP50M
Nm 7.19 7
Mpk
(lb in) (63.7)
Imax % IN 250 250
CMP63S
Nm 6.67 10.4 8
Mpk
(lb in) (59.1) (92.1)
Imax % IN 250 250
CMP50L 9
Nm 7.49 13.1
Mpk
(lb in) (66.3) (116)
CMP63M
Imax % IN 250 250 250 10
Nm 13.7 18.1 21.1
Mpk
(lb in) (121) (160) (187)
Imax % IN 250 250 250
11
CMP63L
Nm 14.5 20.3 25.0
Mpk
(lb in) (128) (180) (221) 12
Imax % IN 250 250 250
CMP71S
Nm 12.4 16.2 18.3
Mpk
(lb in) (110) (143) (162) 13
Imax % IN 250 250 250 238
CMP71M
Nm 17.9 22.2 27.7 30.8 14
Mpk
(lb in) (159) (197) (245) (273)
Imax % IN 250 250 250
CMP71L
Nm 26.4 36.2 42.2 15
Mpk
(lb in) (234) (321) (374)
Imax % IN 250 250 250 198
CMP80S 16
Nm 25.9 34.7 39.3 42.1
Mpk
(lb in) (229) (307) (348) (373)
CMP80M
Imax % IN 250 250 250 17
Nm 40.0 49.2 59.9
Mpk
(lb in) (354) (436) (531)
Imax % IN 250 250 250
18
CMP80L
Nm 55.3 76.9 92.7
Mpk
(lb in) (490) (681) (821) 19
20
21
22

Project planning
10.4.6 Motor selection for CMDV synchronous servomotors

Pulse width modulation 8 kHz (standard), system voltage 400 V, peak torque in Nm.
Nominal speed nN = 400 rpm
MOVIAXIS® MX
Size 1 Size 2 Size 3 Size 4 Size 5 Size 6
IN [A] 2 4 8 12 16 24 32 48 64 100
Motor Imax[A] 5 10 20 30 40 60 80 120 160 250
Imax [%IN] 250 128
CMDV162K
Mmax [Nm] 11.01 11.1
Imax [%IN] 228
CMDV162S
Mmax [Nm] 27.16
Imax [%IN] 250 216
CMDV162M
Mmax [Nm] 39.03 57.12
Imax [%IN] 250 225
CMDV162L
Mmax [Nm] 87.98 105.38

MOVIAXIS® MX
IN [A] 2 4 8 12 16 24 32 48 64 100
Motor Imax[A] 5 10 20 30 40 60 80 120 160 250
Imax [%IN] 250 145
CMDV138K
Mmax [Nm] 7.13 7.71
Imax [%IN] 245
CMDV138S
Mmax [Nm] 19.28
Imax [%IN] 250 248
CMDV138M
Mmax [Nm] 31.18 48.76
Imax [%IN] 250 204
CMDV138L
Mmax [Nm] 62.15 70.15

MOVIAXIS® MX
IN [A] 2 4 8 12 16 24 32 48 64 100
Motor Imax[A] 5 10 20 30 40 60 80 120 160 250
Imax [%IN] 205
CMDV93K
Mmax [Nm] 4.5
Imax [%IN] 250 140
CMDV93S
Mmax [Nm] 9.7 10.3
Imax [%IN] 250 250 139
CMDV93M
Mmax [Nm] 12 20 21.2
Imax [%IN] 250 250 203
CMDV93L
Mmax [Nm] 14.4 26.9 38.1
Imax [%IN] 230
CMDV162K
Mmax [Nm] 11.08
Imax [%IN] 191
CMDV162S
Mmax [Nm] 27.2
Imax [%IN] 250 250 203
CMDV162M
Mmax [Nm] 40.83 53.75 56.97
Imax [%IN] 250 250 250
CMDV162L
Mmax [Nm] 64.57 81.57 105.46

Project planning
10
Nominal speed nN = 1200 rpm 1

MOVIAXIS® MX
Size 1 Size 2 Size 3 Size 4 Size 5 Size 6 2
IN [A] 2 4 8 12 16 24 32 48 64 100
Motor Imax[A] 5 10 20 30 40 60 80 120 160 250
Imax [%IN] 250 130
3
CMDV70S
Mmax [Nm] 2.9 3
CMDV70M
Imax [%IN] 250 138 4
Mmax [Nm] 5 5.3
Imax [%IN] 250 200
CMDV70L
Mmax [Nm] 7.5 11.3
5
Imax [%IN] 245
CMDV93K
Mmax [Nm] 4.5 6
Imax [%IN] 250 205
CMDV93S
Mmax [Nm] 7.5 10.3
Imax [%IN] 250 250 201
7
CMDV93M
Mmax [Nm] 8.4 15.6 21.2
CMDV93L
Imax [%IN] 250 250 196 8
Mmax [Nm] 19.8 34.4 38.5
Imax [%IN] 205
CMDV138K
Mmax [Nm] 7.69
9
Imax [%IN] 250 169
CMDV138S
Mmax [Nm] 16.13 19.25 10
Imax [%IN] 250 221
CMDV138M
Mmax [Nm] 41.67 48.72
Imax [%IN] 250 250 247
11
CMDV138L
Mmax [Nm] 43.45 59.33 70.18
CMDV162K
Imax [%IN] 184 12
Mmax [Nm] 11.15
Imax [%IN] 250 188
CMDV162S
Mmax [Nm] 25.74 27.34
13
Imax [%IN] 250 233
CMDV162M
Mmax [Nm] 45.56 57.2 14
Imax [%IN] 250 250 250 206
CMDV162L
Mmax [Nm] 59.14 75.45 100.01 105.19
15
16
MOVIAXIS® MX
IN [A] 2 4 8 12 16 24 32 48 64 100 17
Motor Imax[A] 5 10 20 30 40 60 80 120 160 250
CMDV138K
Imax [%IN] 250 18
Mmax [Nm] 7.65
Imax [%IN] 250 213
CMDV138S
Mmax [Nm] 16.73 19.22 19
Imax [%IN] 250 250 229
CMDV138M
Mmax [Nm] 33.11 40.69 48.7 20
Imax [%IN] 250 250 231
CMDV138L
Mmax [Nm] 45.67 61.67 69.93
21
22

Project planning

MOVIAXIS® MX
IN [A] 2 4 8 12 16 24 32 48 64 100
Motor Imax[A] 5 10 20 30 40 60 80 120 160 250
Imax [%IN] 250 150
CMDV70S
Mmax [Nm] 2.7 3
Imax [%IN] 250 200
CMDV70M
Mmax [Nm] 3.8 5.3
Imax [%IN] 250 250 140
CMDV70L
Mmax [Nm] 5.4 10.4 11.3
Imax [%IN] 250 180
CMDV93K
Mmax [Nm] 3.6 4.47
Imax [%IN] 250 250 154
CMDV93S
Mmax [Nm] 5.3 9.2 10.3
Imax [%IN] 250 250 192
CMDV93M
Mmax [Nm] 11.7 19.6 21.3
Imax [%IN] 250 250 250 169
CMDV93L
Mmax [Nm] 22.7 31.4 38.3 38.7

MOVIAXIS® MX
IN [A] 2 4 8 12 16 24 32 48 64 100
Motor Imax[A] 5 10 20 30 40 60 80 120 160 250
Imax [%IN] 203
CMDV55S
Mmax [Nm] 1.26
Imax [%IN] 250 150
CMDV55M
Mmax [Nm] 2 2.2
Imax [%IN] 250 250 140
CMDV55L
Mmax [Nm] 3.2 5.5 5.9

Project planning
10
Pulse width modulation 4 kHz, system voltage 400 V, peak torque in Nm. 1
INFORMATION 2
Changes to the values in the combination overview tables with PWM 8 kHz only apply
for MOVIAXIS® size 3 and larger. Below, only those motor tables are shown that con- 3
tain different values than for PWM 8 kHz.
4
MOVIAXIS® MX 5
IN [A] 2 4 8 12 16 32 42 64 85 133 6
Motor Imax[A] 5 10 20 30 40 80 105 160 213 333
Imax [%IN] 230
CMDV162K
Mmax [Nm] 11.08 7
Imax [%IN] 191
CMDV162S
Mmax [Nm] 27.2 8
Imax [%IN] 250 250 203
CMDV162M
Mmax [Nm] 40.83 53.75 56.97
Imax [%IN] 250 250 188 9
CMDV162L
Mmax [Nm] 64.57 81.57 105.46
10
MOVIAXIS® MX 11
IN [A] 2 4 8 12 16 32 42 64 85 133
12
Motor Imax[A] 5 10 20 30 40 80 105 160 213 333
Imax [%IN] 184
CMDV162K
Mmax [Nm] 11.15 13
Imax [%IN] 250 188
CMDV162S
Mmax [Nm] 25.74 27.34
14
Imax [%IN] 250 175
CMDV162M
Mmax [Nm] 45.56 57.2
Imax [%IN] 250 250 208 15
CMDV162L
Mmax [Nm] 59.14 75.45 105.19
16
MOVIAXIS® MX 17
IN [A] 2 4 8 12 16 32 42 64 85 133
Motor Imax[A] 5 10 20 30 40 80 105 160 213 333
18
Imax [%IN] 250
CMDV138K
Mmax [Nm] 7.65 19
Imax [%IN] 250 213
CMDV138S
Mmax [Nm] 16.73 19.22
Imax [%IN] 250 250 172
20
CMDV138M
Mmax [Nm] 33.11 40.69 48.7
CMDV138L
Imax [%IN] 250 231 21
Mmax [Nm] 45.67 69.93
22

Project planning

MOVIAXIS® MX
IN [A] 2 4 8 12 16 32 42 64 85 133
Motor Imax[A] 5 10 20 30 40 80 105 160 213 333
Imax [%IN] 250 180
CMDV93K
Mmax [Nm] 3.6 4.47
Imax [%IN] 250 250 154
CMDV93S
Mmax [Nm] 5.3 9.2 10.3
Imax [%IN] 250 250 192
CMDV93M
Mmax [Nm] 11.7 19.6 21.3
Imax [%IN] 250 250 250 127
CMDV93L
Mmax [Nm] 22.7 31.4 38.3 38.7

Project planning
10
10.4.7 Motor selection – DRL asynchronous servomotors 1

®
Combination overviews and characteristic curves for DRL – MOVIAXIS , 8 kHz
Assignment of DRL servomotors to MOVIAXIS®, PWM = 8 kHz 2
Nominal speed nN = 1200 rpm, dynamics package 1, PWM = 8 kHz
Motor Assignment to MOVIAXIS® MXA
3
Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100 4
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 5.00
Mpeak1
(lb in) (44.3) 5
DRL71S4
nbase (400 V) rpm 956
nbase (530 V) rpm 1505 6
Nm 7.00
Mpeak1
(lb in) (62.0)
DRL71M4
nbase (400 V) rpm 998 7
Mpeak1
Nm 10.00 10.00 8
(lb in) (88.6) (88.6)
DRL80S4
nbase (400 V) rpm 970 991
nbase (530 V) rpm 1505 1540 9
Nm 14.0 14.0
Mpeak1
(lb in) (124) (124)
DRL80M4 10
nbase (400 V) rpm 1034 1076
nbase (530 V) rpm 1526 1638
Mpeak1
Nm 25.0 25.0 11
(lb in) (221) (221)
DRL90L4
nbase (400 V) rpm 1181 1273
nbase (530 V) rpm 1695 1877
12
Nm 40.0 40.0
Mpeak1
DRL100L4
(lb in) (354) (354) 13
nbase (400 V) rpm 1301 1350
nbase (530 V) rpm 1905 1976
Nm 67.4 80.0 80.0
14
Mpeak1
(lb in) (597) (709) (709)
DRL132S4
nbase (400 V) rpm 1037 1090 1119 15
nbase (530 V) rpm 1424 1529 1594
Nm 100 130 130 130
Mpeak1
(lb in) (886) (1151) (1151) (1151) 16
DRL132MC4
nbase (400 V) rpm 1090 1055 1230 1277
nbase (530 V) rpm 1477 1447 1711 1775 17
Nm 137 165 165
Mpeak1
(lb in) (1213) (1461) (1461)
DRL160M4
nbase (400 V) rpm 1065 1129 1176 18
nbase (530 V) rpm 1450 1556 1635
Nm 185 185 185
Mpeak1 19
(lb in) (1638) (1638) (1638)
DRL160MC4
nbase (400 V) rpm 1123 1260 1308
nbase (530 V) rpm 1524 1730 1825 20
Nm 210 210 210
Mpeak1
(lb in) (1860) (1860) (1860)
DRL180S4
nbase (400 V) rpm 1055 1176 1202
21
nbase (530 V) rpm 1440 1619 1656
Mpeak1
Nm 217 250 250 22
(lb in) (1922) (2214) (2214)
DRL180M4
nbase (400 V) rpm 1113 1165 1255
nbase (530 V) rpm 1503 1593 1724

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 293 320 320
Mpeak1
(lb in) (2595) (2834) (2834)
DRL180L4
nbase (400 V) rpm 1081 1208 1223
nbase (530 V) rpm 1466 1656 1682
Nm 282 420 420 420
Mpeak1
(lb in) (2498) (3720) (3720) (3720)
DRL180LC4
nbase (400 V) rpm 1113 1023 1107 1134
nbase (530 V) rpm 1498 1392 1508 1545
Nm 426 475 475
Mpeak1
(lb in) (3773) (4207) (4207)
DRL200L4
nbase (400 V) rpm 1064 1116 1167
nbase (530 V) rpm 1434 1519 1612
Nm 430 520 520
Mpeak1
(lb in) (3808) (4605) (4605)
DRL225S4
nbase (400 V) rpm 1116 1148 1280
nbase (530 V) rpm 1500 1547 1739
Nm 549 770
Mpeak1
(lb in) (4862) (6820)
DRL225MC4
nbase (400 V) rpm 1125 1111
nbase (530 V) rpm 1505 1500

Project planning
10
Nominal speed nN = 1200 rpm, dynamics package 2, PWM = 8 kHz 1

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 8.50
3
Mpeak2
(lb in) (75.3)
DRL71S4
nbase (400 V) rpm 555 4
Nm 14.0
Mpeak2
(lb in) (124) 5
DRL71M4
nbase (530 V) rpm 865 6
Nm 16.4 25.0
Mpeak2
(lb in) (145) (221)
DRL80S4
nbase (400 V) rpm 619 225 7
nbase (530 V) rpm 1027 612
Nm 16.9 30.0
Mpeak2 8
(lb in) (150) (266)
DRL80M4
nbase (400 V) rpm 886 506
nbase (530 V) rpm 1308 900 9
Nm 33.7 46.0
Mpeak2
(lb in) (298) (407)
DRL90L4
nbase (400 V) rpm 921 788
10
nbase (530 V) rpm 1329 1223
Mpeak2
Nm 63.0 85.0 85.0 11
(lb in) (558) (753) (753)
DRL100L4
nbase (400 V) rpm 928 738 752
nbase (530 V) rpm 1364 1174 1188
12
Nm 67.4 102 137 150
Mpeak2
DRL132S4
(lb in) (597) (903) (1213) (1328) 13
nbase (400 V) rpm 1037 914 791 762
nbase (530 V) rpm 1424 1277 1137 1107
Nm 100 135 200 200 14
Mpeak2
(lb in) (886) (1196) (1771) (1771)
DRL132MC4
nbase (400 V) rpm 1090 1025 914 973 15
nbase (530 V) rpm 1477 1406 1283 1377
Nm 137 209 279 280
Mpeak2
(lb in) (1213) (1851) (2471) (2480) 16
DRL160M4
nbase (400 V) rpm 1065 954 844 875
nbase (530 V) rpm 1450 1318 1192 1239
17
Nm 203 272 320
Mpeak2
(lb in) (1798) (2409) (2834)
DRL160MC4
nbase (400 V) rpm 1044 965 944 18
nbase (530 V) rpm 1424 1329 1329
Nm 216 290 380 380
Mpeak2
(lb in) (1913) (2568) (3366) (3366)
19
DRL180S4
nbase (400 V) rpm 1039 944 838 849
nbase (530 V) rpm 1419 1308 1181 1208 20
Nm 217 292 430 430
Mpeak2
(lb in) (1922) (2586) (3808) (3808)
DRL180M4
nbase (400 V) rpm 1113 1039 907 928
21
nbase (530 V) rpm 1503 1419 1260 1287
Mpeak2
Nm 293 444 520 520 22
(lb in) (2595) (3932) (4605) (4605)
DRL180L4
nbase (400 V) rpm 1081 965 918 933
nbase (530 V) rpm 1466 1324 1276 1297

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 282 428 573 600
Mpeak2
(lb in) (2498) (3791) (5075) (5314)
DRL180LC4
nbase (400 V) rpm 1113 1012 918 918
nbase (530 V) rpm 1498 1376 1260 1260
Nm 426 571 680
Mpeak2
(lb in) (3773) (5057) (6023)
DRL200L4
nbase (400 V) rpm 1064 984 947
nbase (530 V) rpm 1434 1341 1322
Nm 430 579 770
Mpeak2
(lb in) (3808) (5128) (6820)
DRL225S4
nbase (400 V) rpm 1116 1059 1027
nbase (530 V) rpm 1500 1430 1402
Nm 549 866
Mpeak2
(lb in) (4862) (7670)
DRL225MC4
nbase (400 V) rpm 1125 1022
nbase (530 V) rpm 1505 1383

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 5.00
3
Mpeak1
(lb in) (44.3)
DRL71S4
nbase (400 V) rpm 1554 4
Nm 7.00 7.00
Mpeak1
(lb in) (62.0) (62.0) 5
DRL71M4
nbase (400 V) rpm 1568 1709
nbase (530 V) rpm 2257 2524 6
Nm 10.00 10.00
Mpeak1
(lb in) (88.6) (88.6)
DRL80S4
nbase (400 V) rpm 1533 1638 7
nbase (530 V) rpm 2201 2398
Nm 14.0
Mpeak1 8
(lb in) (124)
DRL80M4
nbase (530 V) rpm 2503 9
Nm 25.0
Mpeak1
(lb in) (221)
DRL90L4
10
Mpeak1
Nm 40.0 40.0 11
(lb in) (354) (354)
DRL100L4
nbase (400 V) rpm 1758 2004
nbase (530 V) rpm 2433 2834
12
Nm 71.7 80.0 80.0
Mpeak1
DRL132S4
(lb in) (635) (709) (709) 13
nbase (400 V) rpm 1512 1611 1729
nbase (530 V) rpm 2057 2215 2379
Nm 93.6 130 130 130 14
Mpeak1
(lb in) (829) (1151) (1151) (1151)
DRL132MC4
nbase (400 V) rpm 1600 1617 1840 1928 15
nbase (530 V) rpm 2156 2191 2508 2643
Nm 149 165 165
Mpeak1
(lb in) (1320) (1461) (1461) 16
DRL160M4
nbase (400 V) rpm 1498 1614 1730
nbase (530 V) rpm 2025 2194 2362
17
Nm 156 185 185
Mpeak1
(lb in) (1382) (1638) (1638)
DRL160MC4
nbase (400 V) rpm 1440 1508 1703 18
nbase (530 V) rpm 1935 2041 2315
Nm 208 210 210
Mpeak1
(lb in) (1842) (1860) (1860)
19
DRL180S4
nbase (400 V) rpm 1492 1703 1730
nbase (530 V) rpm 2020 2315 2394 20
Nm 208 250 250
Mpeak1
(lb in) (1842) (2214) (2214)
DRL180M4
nbase (400 V) rpm 1593 1730 1809
21
nbase (530 V) rpm 2136 2341 2457
Mpeak1
Nm 320 320 320 22
(lb in) (2834) (2834) (2834)
DRL180L4
nbase (400 V) rpm 1482 1709 1751
nbase (530 V) rpm 2004 2326 2415

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 302 406 420
Mpeak1
(lb in) (2675) (3596) (3720)
DRL180LC4
nbase (400 V) rpm 1577 1487 1619
nbase (530 V) rpm 2109 2004 2183
Nm 300 405 475
Mpeak1
(lb in) (2657) (3587) (4207)
DRL200L4
nbase (400 V) rpm 1608 1542 1641
nbase (530 V) rpm 2152 2067 2212
Nm 415 520
Mpeak1
(lb in) (3676) (4605)
DRL225S4
nbase (400 V) rpm 1575 1716
nbase (530 V) rpm 2105 2306
Nm 571
Mpeak1
(lb in) (5057)
DRL225MC4

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 8.50
3
Mpeak2
(lb in) (75.3)
DRL71S4
nbase (400 V) rpm 1005 4
Nm 10.1 14.0
Mpeak2
(lb in) (89.5) (124) 5
DRL71M4
nbase (400 V) rpm 1202 984
nbase (530 V) rpm 1758 1547 6
Nm 11.6 23.8
Mpeak2
(lb in) (103) (211)
DRL80S4
nbase (400 V) rpm 1357 745 7
nbase (530 V) rpm 1948 1273
Nm 24.8 30.0
Mpeak2 8
(lb in) (220) (266)
DRL80M4
nbase (400 V) rpm 1125 977
nbase (530 V) rpm 1680 1526 9
Nm 46.0 46.0
Mpeak2
(lb in) (407) (407)
DRL90L4
nbase (400 V) rpm 1245 1294
10
nbase (530 V) rpm 1807 1912
Mpeak2
Nm 45.7 69.2 85.0 85.0 11
(lb in) (405) (613) (753) (753)
DRL100L4
nbase (400 V) rpm 1582 1364 1223 1259
nbase (530 V) rpm 2194 1955 1821 1877
12
Nm 71.7 96.4 146 150
Mpeak2
DRL132S4
(lb in) (635) (854) (1293) (1328) 13
nbase (400 V) rpm 1512 1406 1201 1201
nbase (530 V) rpm 2057 1934 1688 1688
Nm 93.6 143 192 200 14
Mpeak2
(lb in) (829) (1267) (1700) (1771)
DRL132MC4
nbase (400 V) rpm 1600 1500 1395 1500 15
nbase (530 V) rpm 2156 2033 1916 2074
Nm 149 201 280 280
Mpeak2
(lb in) (1320) (1780) (2480) (2480) 16
DRL160M4
nbase (400 V) rpm 1498 1403 1266 1303
nbase (530 V) rpm 2025 1909 1751 1830
17
Nm 156 210 318 320
Mpeak2
(lb in) (1382) (1860) (2816) (2834)
DRL160MC4
nbase (400 V) rpm 1440 1366 1223 1292 18
nbase (530 V) rpm 1935 1851 1682 1777
Nm 208 315 380 380
Mpeak2
(lb in) (1842) (2790) (3366) (3366)
19
DRL180S4
nbase (400 V) rpm 1492 1329 1234 1271
nbase (530 V) rpm 2020 1819 1714 1756 20
Nm 208 316 423 430
Mpeak2
(lb in) (1842) (2799) (3746) (3808)
DRL180M4
nbase (400 V) rpm 1593 1461 1334 1371
21
nbase (530 V) rpm 2136 1983 1825 1904
Mpeak2
Nm 323 433 520 22
(lb in) (2861) (3835) (4605)
DRL180L4
nbase (400 V) rpm 1482 1382 1329
nbase (530 V) rpm 2004 1877 1846

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 302 406 600
Mpeak2
(lb in) (2675) (3596) (5314)
DRL180LC4
nbase (400 V) rpm 1577 1487 1324
nbase (530 V) rpm 2109 2004 1793
Nm 300 405 637
Mpeak2
(lb in) (2657) (3587) (5642)
DRL200L4
nbase (400 V) rpm 1608 1542 1388
nbase (530 V) rpm 2152 2067 1875
Nm 415 657
Mpeak2
(lb in) (3676) (5819)
DRL225S4
nbase (400 V) rpm 1575 1453
nbase (530 V) rpm 2105 1959
Nm 571
Mpeak2
(lb in) (5057)
DRL225MC4

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 5.00 5.00
3
Mpeak1
(lb in) (44.3) (44.3)
DRL71S4
nbase (400 V) rpm 2088 2250 4
nbase (530 V) rpm 2981 3284
Nm 7.00 7.00
Mpeak1
(lb in) (62.0) (62.0) 5
DRL71M4
nbase (400 V) rpm 1962 2250
nbase (530 V) rpm 2735 3241 6
Nm 10.00
Mpeak1
(lb in) (88.6)
DRL80S4
nbase (400 V) rpm 2222 7
Nm 14.0 14.0
Mpeak1 8
(lb in) (124) (124)
DRL80M4
nbase (400 V) rpm 2271 2398
nbase (530 V) rpm 3199 3403 9
Nm 25.0 25.0
Mpeak1
(lb in) (221) (221)
DRL90L4
nbase (400 V) rpm 2489 2616
10
nbase (530 V) rpm 3452 3649
Mpeak1
Nm 40.0 40.0 11
(lb in) (354) (354)
DRL100L4
nbase (400 V) rpm 2538 2714
nbase (530 V) rpm 3502 3790
12
Nm 78.0 80.0 80.0
Mpeak1
DRL132S4
(lb in) (691) (709) (709) 13
nbase (400 V) rpm 1869 2145 2197
nbase (530 V) rpm 2531 2930 3000
Nm 116 130 130 14
Mpeak1
(lb in) (1027) (1151) (1151)
DRL132MC4
nbase (400 V) rpm 1934 2127 2391 15
nbase (530 V) rpm 2607 2871 3246
Nm 159 165 165
Mpeak1
(lb in) (1408) (1461) (1461) 16
DRL160M4
nbase (400 V) rpm 1893 2173 2236
nbase (530 V) rpm 2552 2943 3080
17
Nm 153 185 185
Mpeak1
(lb in) (1355) (1638) (1638)
DRL160MC4
nbase (400 V) rpm 1983 2204 2352 18
nbase (530 V) rpm 2658 2964 3217
Nm 210 210 210
Mpeak1
(lb in) (1860) (1860) (1860)
19
DRL180S4
nbase (400 V) rpm 2088 2220 2273
nbase (530 V) rpm 2805 3001 3069 20
Nm 250 250 250
Mpeak1
(lb in) (2214) (2214) (2214)
DRL180M4
nbase (400 V) rpm 1956 2257 2373
21
nbase (530 V) rpm 2626 3038 3201
Mpeak1
Nm 251 320 320 22
(lb in) (2223) (2834) (2834)
DRL180L4
nbase (400 V) rpm 1999 1978 2278
nbase (530 V) rpm 2679 2647 3074

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 326 420
Mpeak1
(lb in) (2887) (3720)
DRL180LC4
nbase (400 V) rpm 1946 2004
nbase (530 V) rpm 2605 2689
Nm 324 475
Mpeak1
(lb in) (2870) (4207)
DRL200L4
nbase (400 V) rpm 1992 1936
nbase (530 V) rpm 2658 2588
Nm 518
Mpeak1
(lb in) (4588)
DRL225S4
Nm 491
Mpeak1
(lb in) (4349)
DRL225MC4

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 7.47 8.50
3
Mpeak2
(lb in) (66.2) (75.3)
DRL71S4
nbase (400 V) rpm 1561 1526 4
nbase (530 V) rpm 2257 2306
Nm 7.91 14.0
Mpeak2
(lb in) (70.1) (124) 5
DRL71M4
nbase (400 V) rpm 1786 1378
nbase (530 V) rpm 2496 2060 6
Nm 18.9
Mpeak2
(lb in) (167)
DRL80S4
nbase (400 V) rpm 1413 7
Nm 19.5 30.0
Mpeak2 8
(lb in) (173) (266)
DRL80M4
nbase (400 V) rpm 1751 1399
nbase (530 V) rpm 2468 2095 9
Nm 39.0 46.0 46.0
Mpeak2
(lb in) (345) (407) (407)
DRL90L4
nbase (400 V) rpm 1765 1772 1814
10
nbase (530 V) rpm 2461 2538 2630
Mpeak2
Nm 54.4 73.0 85.0 85.0 11
(lb in) (482) (647) (753) (753)
DRL100L4
nbase (400 V) rpm 1997 1814 1737 1772
nbase (530 V) rpm 2763 2552 2517 2573
12
Nm 78.0 118 150 150
Mpeak2
DRL132S4
(lb in) (691) (1045) (1328) (1328) 13
nbase (400 V) rpm 1869 1676 1523 1576
nbase (530 V) rpm 2531 2303 2115 2197
Nm 116 156 200 14
Mpeak2
(lb in) (1027) (1382) (1771)
DRL132MC4
nbase (400 V) rpm 1934 1840 1857 15
nbase (530 V) rpm 2607 2496 2537
Nm 159 240 280
Mpeak2
(lb in) (1408) (2126) (2480) 16
DRL160M4
nbase (400 V) rpm 1893 1719 1656
nbase (530 V) rpm 2552 2341 2299
17
Nm 153 234 314 320
Mpeak2
(lb in) (1355) (2072) (2781) (2834)
DRL160MC4
nbase (400 V) rpm 1983 1851 1724 1835 18
nbase (530 V) rpm 2658 2500 2347 2494
Nm 249 334 380
Mpeak2
(lb in) (2205) (2958) (3366)
19
DRL180S4
nbase (400 V) rpm 1840 1688 1624
nbase (530 V) rpm 2489 2299 2220 20
Nm 251 337 430
Mpeak2
(lb in) (2223) (2985) (3808)
DRL180M4
nbase (400 V) rpm 1956 1835 1756
21
nbase (530 V) rpm 2626 2479 2389
Mpeak2
Nm 251 338 520 22
(lb in) (2223) (2994) (4605)
DRL180L4
nbase (400 V) rpm 1999 1904 1703
nbase (530 V) rpm 2679 2563 2310

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 326 514
Mpeak2
(lb in) (2887) (4552)
DRL180LC4
nbase (400 V) rpm 1946 1756
nbase (530 V) rpm 2605 2368
Nm 324 513
Mpeak2
(lb in) (2870) (4543)
DRL200L4
nbase (400 V) rpm 1992 1842
nbase (530 V) rpm 2658 2475
Nm 518
Mpeak2
(lb in) (4588)
DRL225S4
Nm 491
Mpeak2
(lb in) (4349)
DRL225MC4

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 5.00 5.00
3
Mpeak1
(lb in) (44.3) (44.3)
DRL71S4
nbase (400 V) rpm 2742 3291 4
nbase (530 V) rpm 3755 4669
Nm 7.00
Mpeak1
(lb in) (62.0) 5
DRL71M4
nbase (530 V) rpm 4500 6
Nm 10.00 10.00
Mpeak1
(lb in) (88.6) (88.6)
DRL80S4
nbase (400 V) rpm 3241 3410 7
nbase (530 V) rpm 4486 4830
Nm 14.0
Mpeak1 8
(lb in) (124)
DRL80M4
nbase (530 V) rpm 4901 9
Nm 25.0 25.0 25.0
Mpeak1
(lb in) (221) (221) (221)
DRL90L4
nbase (400 V) rpm 2988 3642 3797
10
nbase (530 V) rpm 4029 4985 5203
Mpeak1
Nm 39.3 40.0 40.0 11
(lb in) (348) (354) (354)
DRL100L4
nbase (400 V) rpm 3038 3586 3994
nbase (530 V) rpm 4113 4866 5477
12
Nm 54.4 80.0 80.0 80.0
Mpeak1
DRL132S4
(lb in) (482) (709) (709) (709) 13
nbase (400 V) rpm 2842 2719 3111 3270
nbase (530 V) rpm 3809 3645 4195 4418
Nm 80.1 109 130 130 14
Mpeak1
(lb in) (709) (965) (1151) (1151)
DRL132MC4
nbase (400 V) rpm 2883 2801 3170 3428 15
nbase (530 V) rpm 3850 3750 4248 4611
Nm 165 165 165
Mpeak1
(lb in) (1461) (1461) (1461) 16
DRL160M4
nbase (400 V) rpm 2689 3032 3233
nbase (530 V) rpm 3596 4071 4345
17
Nm 181 185 185
Mpeak1
(lb in) (1603) (1638) (1638)
DRL160MC4
nbase (400 V) rpm 2521 2921 3154 18
nbase (530 V) rpm 3380 3908 4293
Nm 179 210 210
Mpeak1
(lb in) (1585) (1860) (1860)
19
DRL180S4
nbase (400 V) rpm 2747 2874 3164
nbase (530 V) rpm 3676 3834 4245 20
Nm 179 241 250
Mpeak1
(lb in) (1585) (2134) (2214)
DRL180M4
nbase (400 V) rpm 2879 2769 3243
21
nbase (530 V) rpm 3839 3707 4340
Mpeak1
Nm 246 320 22
(lb in) (2179) (2834)
DRL180L4
nbase (400 V) rpm 2758 2953
nbase (530 V) rpm 3686 3945

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 228 364
Mpeak1
(lb in) (2019) (3224)
DRL180LC4
nbase (400 V) rpm 2885 2711
nbase (530 V) rpm 3844 3623
Nm 363
Mpeak1
(lb in) (3215)
DRL200L4
Nm 372
Mpeak1
(lb in) (3295)
DRL225S4

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 5.31 8.50
3
Mpeak2
(lb in) (47.0) (75.3)
DRL71S4
nbase (400 V) rpm 2630 2334 4
nbase (530 V) rpm 3621 3382
Nm 11.7
Mpeak2
(lb in) (104) 5
DRL71M4
nbase (530 V) rpm 3270 6
Nm 13.5 25.0
Mpeak2
(lb in) (120) (221)
DRL80S4
nbase (400 V) rpm 2573 1849 7
nbase (530 V) rpm 3579 2735
Nm 28.6 30.0 8
Mpeak2
(lb in) (253) (266)
DRL80M4
nbase (400 V) rpm 2229 2215
nbase (530 V) rpm 3171 3178 9
Nm 28.0 42.9 46.0
Mpeak2
(lb in) (248) (380) (407)
DRL90L4 10
nbase (400 V) rpm 2735 2489 2644
nbase (530 V) rpm 3705 3431 3684
Mpeak2
Nm 39.3 52.9 79.9 85.0 11
(lb in) (348) (469) (708) (753)
DRL100L4
nbase (400 V) rpm 3038 2883 2580 2616
nbase (530 V) rpm 4113 3938 3586 3698
12
Nm 54.4 83.0 111 150
Mpeak2
DRL132S4
(lb in) (482) (735) (983) (1328) 13
nbase (400 V) rpm 2842 2678 2508 2291
nbase (530 V) rpm 3809 3604 3398 3129
Nm 80.1 109 166 200
14
Mpeak2
(lb in) (709) (965) (1470) (1771)
DRL132MC4
nbase (400 V) rpm 2883 2801 2637 2654 15
nbase (530 V) rpm 3850 3750 3551 3580
Nm 174 233 280
Mpeak2
(lb in) (1541) (2064) (2480) 16
DRL160M4
nbase (400 V) rpm 2621 2463 2415
nbase (530 V) rpm 3517 3322 3275 17
Nm 181 243 320
Mpeak2
(lb in) (1603) (2152) (2834)
DRL160MC4
nbase (400 V) rpm 2521 2405 2341 18
nbase (530 V) rpm 3380 3227 3206
Nm 179 241 379
Mpeak2 19
(lb in) (1585) (2134) (3357)
DRL180S4
nbase (400 V) rpm 2747 2610 2294
nbase (530 V) rpm 3676 3502 3106 20
Nm 179 241 380
Mpeak2
(lb in) (1585) (2134) (3366)
DRL180M4
nbase (400 V) rpm 2879 2769 2521
21
nbase (530 V) rpm 3839 3707 3391
Mpeak2
Nm 246 390 22
(lb in) (2179) (3454)
DRL180L4
nbase (400 V) rpm 2758 2563
nbase (530 V) rpm 3686 3444

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Imax [A] 5 10 20 30 40 60 80 120 160 250
Nm 228 364
Mpeak2
(lb in) (2019) (3224)
DRL180LC4
nbase (400 V) rpm 2885 2711
nbase (530 V) rpm 3844 3623
Nm 363
Mpeak2
(lb in) (3215)
DRL200L4
Nm 372
Mpeak2
(lb in) (3295)
DRL225S4

Project planning
10
Combination overviews and characteristic curves for DRL – MOVIAXIS®, 4 kHz 1

®
Assignment of DRL servomotors to MOVIAXIS , PWM = 4 kHz
Size 1 2 3 4 5 6 3
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak1 [A] 5 10 20 30 40 60 80 120 160 250
4
Nm 5.00
Mpeak1
(lb in) (44.3)
DRL71S4
nbase (400 V) rpm 956 5
Nm 7.00
Mpeak1
(lb in) (62.0)
6
DRL71M4
nbase (530 V) rpm 1526 7
Nm 10.00 10.00
Mpeak1
(lb in) (88.6) (88.6)
DRL80S4
nbase (400 V) rpm 970 991
8
nbase (530 V) rpm 1505 1540
Mpeak1
Nm 14.0 14.0 9
(lb in) (124) (124)
DRL80M4
nbase (400 V) rpm 1034 1076
nbase (530 V) rpm 1526 1638 10
Nm 25.0 25.0
Mpeak1
(lb in) (221) (221) 11
DRL90L4
nbase (400 V) rpm 1181 1273
nbase (530 V) rpm 1695 1877
Nm 40.0 40.0 12
Mpeak1
(lb in) (354) (354)
DRL100L4
nbase (400 V) rpm 1301 1350
13
nbase (530 V) rpm 1905 1976
Nm 67.4 80.0 80.0
Mpeak1
(lb in) (597) (709) (709) 14
DRL132S4
nbase (400 V) rpm 1037 1090 1119
nbase (530 V) rpm 1424 1529 1594
15
Nm 100 130 130
Mpeak1
(lb in) (886) (1151) (1151)
DRL132MC4
nbase (400 V) rpm 1090 1055 1230 16
nbase (530 V) rpm 1477 1447 1711
Nm 137 165
Mpeak1
(lb in) (1213) (1461)
17
DRL160M4
nbase (400 V) rpm 1065 1129
nbase (530 V) rpm 1450 1556 18
Nm 185 185
Mpeak1
(lb in) (1638) (1638)
DRL160MC4
nbase (400 V) rpm 1123 1260 19
nbase (530 V) rpm 1524 1730
Mpeak1
Nm 210 210 20
(lb in) (1860) (1860)
DRL180S4
nbase (400 V) rpm 1055 1176
nbase (530 V) rpm 1440 1619 21
Nm 217 250 250
Mpeak1
(lb in) (1922) (2214) (2214)
DRL180M4 22
nbase (400 V) rpm 1113 1165 1255
nbase (530 V) rpm 1503 1593 1724

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak1 [A] 5 10 20 30 40 60 80 120 160 250
Nm 217 293 320
Mpeak1
(lb in) (1922) (2595) (2834)
DRL180L4
nbase (400 V) rpm 1134 1081 1208
nbase (530 V) rpm 1529 1466 1656
Nm 207 282 420 420
Mpeak1
(lb in) (1833) (2498) (3720) (3720)
DRL180LC4
nbase (400 V) rpm 1160 1113 1023 1107
nbase (530 V) rpm 1556 1498 1392 1508
Nm 280 426 475 475
Mpeak1
(lb in) (2480) (3773) (4207) (4207)
DRL200L4
nbase (400 V) rpm 1139 1064 1116 1167
nbase (530 V) rpm 1528 1434 1519 1612
Nm 280 430 520 520
Mpeak1
(lb in) (2480) (3808) (4605) (4605)
DRL225S4
nbase (400 V) rpm 1177 1116 1148 1280
nbase (530 V) rpm 1570 1500 1547 1739
Nm 406 549 770
Mpeak1
(lb in) (3596) (4862) (6820)
DRL225MC4
nbase (400 V) rpm 1167 1125 1111
nbase (530 V) rpm 1561 1505 1500

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak2 [A] 5 10 20 30 40 60 80 120 160 250
Nm 8.50
3
Mpeak2
(lb in) (75.3)
DRL71S4
nbase (400 V) rpm 555 4
Nm 14.0
Mpeak2
(lb in) (124) 5
DRL71M4
nbase (530 V) rpm 865 6
Nm 16.4 25.0
Mpeak2
(lb in) (145) (221)
DRL80S4
nbase (400 V) rpm 619 225 7
nbase (530 V) rpm 1027 612
Nm 16.9 30.0
Mpeak2 8
(lb in) (150) (266)
DRL80M4
nbase (400 V) rpm 886 506
nbase (530 V) rpm 1308 900 9
Nm 33.7 46.0
Mpeak2
(lb in) (298) (407)
DRL90L4
nbase (400 V) rpm 921 788
10
nbase (530 V) rpm 1329 1223
Mpeak2
Nm 63.0 85.0 85.0 11
(lb in) (558) (753) (753)
DRL100L4
nbase (400 V) rpm 928 738 752
nbase (530 V) rpm 1364 1174 1188
12
Nm 67.4 102 137 150
Mpeak2
DRL132S4
(lb in) (597) (903) (1213) (1328) 13
nbase (400 V) rpm 1037 914 791 762
nbase (530 V) rpm 1424 1277 1137 1107
Nm 100 135 200 200 14
Mpeak2
(lb in) (886) (1196) (1771) (1771)
DRL132MC4
nbase (400 V) rpm 1090 1025 914 973 15
nbase (530 V) rpm 1477 1406 1283 1377
Nm 137 209 279 280
Mpeak2
(lb in) (1213) (1851) (2471) (2480) 16
DRL160M4
nbase (400 V) rpm 1065 954 844 875
nbase (530 V) rpm 1450 1318 1192 1239
17
Nm 203 272 320
Mpeak2
(lb in) (1798) (2409) (2834)
DRL160MC4
nbase (400 V) rpm 1044 965 944 18
nbase (530 V) rpm 1424 1329 1329
Nm 216 290 380 380
Mpeak2
(lb in) (1913) (2568) (3366) (3366)
19
DRL180S4
nbase (400 V) rpm 1039 944 838 849
nbase (530 V) rpm 1419 1308 1181 1208 20
Nm 217 292 430 430
Mpeak2
(lb in) (1922) (2586) (3808) (3808)
DRL180M4
nbase (400 V) rpm 1113 1039 907 928
21
nbase (530 V) rpm 1503 1419 1260 1287
Mpeak2
Nm 217 293 444 520 520 22
(lb in) (1922) (2595) (3932) (4605) (4605)
DRL180L4
nbase (400 V) rpm 1134 1081 965 918 933
nbase (530 V) rpm 1529 1466 1324 1276 1297

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak2 [A] 5 10 20 30 40 60 80 120 160 250
Nm 207 282 428 573 600
Mpeak2
(lb in) (1833) (2498) (3791) (5075) (5314)
DRL180LC4
nbase (400 V) rpm 1160 1113 1012 918 918
nbase (530 V) rpm 1556 1498 1376 1260 1260
Nm 280 426 571 680
Mpeak2
(lb in) (2480) (3773) (5057) (6023)
DRL200L4
nbase (400 V) rpm 1139 1064 984 947
nbase (530 V) rpm 1528 1434 1341 1322
Nm 280 430 579 770
Mpeak2
(lb in) (2480) (3808) (5128) (6820)
DRL225S4
nbase (400 V) rpm 1177 1116 1059 1027
nbase (530 V) rpm 1570 1500 1430 1402
Nm 406 549 866
Mpeak2
(lb in) (3596) (4862) (7670)
DRL225MC4
nbase (400 V) rpm 1167 1125 1022
nbase (530 V) rpm 1561 1505 1383

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak1 [A] 5 10 20 30 40 60 80 120 160 250
Nm 5.00
3
Mpeak1
(lb in) (44.3)
DRL71S4
nbase (400 V) rpm 1554 4
Nm 7.00 7.00
Mpeak1
(lb in) (62.0) (62.0) 5
DRL71M4
nbase (400 V) rpm 1568 1709
nbase (530 V) rpm 2257 2524 6
Nm 10.00 10.00
Mpeak1
(lb in) (88.6) (88.6)
DRL80S4
nbase (400 V) rpm 1533 1638 7
nbase (530 V) rpm 2201 2398
Nm 14.0
Mpeak1 8
(lb in) (124)
DRL80M4
nbase (530 V) rpm 2503 9
Nm 25.0
Mpeak1
(lb in) (221)
DRL90L4
10
Mpeak1
Nm 40.0 40.0 11
(lb in) (354) (354)
DRL100L4
nbase (400 V) rpm 1758 2004
nbase (530 V) rpm 2433 2834
12
Nm 71.7 80.0 80.0
Mpeak1
DRL132S4
(lb in) (635) (709) (709) 13
nbase (400 V) rpm 1512 1611 1729
nbase (530 V) rpm 2057 2215 2379
Nm 93.6 130 130 14
Mpeak1
(lb in) (829) (1151) (1151)
DRL132MC4
nbase (400 V) rpm 1600 1617 1840 15
nbase (530 V) rpm 2156 2191 2508
Nm 149 165 165
Mpeak1
(lb in) (1320) (1461) (1461) 16
DRL160M4
nbase (400 V) rpm 1498 1614 1730
nbase (530 V) rpm 2025 2194 2362
17
Nm 156 185 185
Mpeak1
(lb in) (1382) (1638) (1638)
DRL160MC4
nbase (400 V) rpm 1440 1508 1703 18
nbase (530 V) rpm 1935 2041 2315
Nm 154 208 210
Mpeak1
(lb in) (1364) (1842) (1860)
19
DRL180S4
nbase (400 V) rpm 1571 1492 1703
nbase (530 V) rpm 2115 2020 2315 20
Nm 154 208 250
Mpeak1
(lb in) (1364) (1842) (2214)
DRL180M4
nbase (400 V) rpm 1656 1593 1730
21
nbase (530 V) rpm 2215 2136 2341
Mpeak1
Nm 211 320 320 22
(lb in) (1869) (2834) (2834)
DRL180L4
nbase (400 V) rpm 1582 1482 1709
nbase (530 V) rpm 2125 2004 2326

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak1 [A] 5 10 20 30 40 60 80 120 160 250
Nm 196 302 406 420
Mpeak1
(lb in) (1736) (2675) (3596) (3720)
DRL180LC4
nbase (400 V) rpm 1661 1577 1487 1619
nbase (530 V) rpm 2220 2109 2004 2183
Nm 300 405 475
Mpeak1
(lb in) (2657) (3587) (4207)
DRL200L4
nbase (400 V) rpm 1608 1542 1641
nbase (530 V) rpm 2152 2067 2212
Nm 306 415 520
Mpeak1
(lb in) (2710) (3676) (4605)
DRL225S4
nbase (400 V) rpm 1627 1575 1716
nbase (530 V) rpm 2170 2105 2306
Nm 357 571
Mpeak1
(lb in) (3162) (5057)
DRL225MC4
nbase (400 V) rpm 1800 1706
nbase (530 V) rpm 2395 2283

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak2 [A] 5 10 20 30 40 60 80 120 160 250
Nm 8.50
3
Mpeak2
(lb in) (75.3)
DRL71S4
nbase (400 V) rpm 1005 4
Nm 10.1 14.0
Mpeak2
(lb in) (89.5) (124) 5
DRL71M4
nbase (400 V) rpm 1202 984
nbase (530 V) rpm 1758 1547 6
Nm 11.6 23.8
Mpeak2
(lb in) (103) (211)
DRL80S4
nbase (400 V) rpm 1357 745 7
nbase (530 V) rpm 1948 1273
Nm 24.8 30.0
Mpeak2 8
(lb in) (220) (266)
DRL80M4
nbase (400 V) rpm 1125 977
nbase (530 V) rpm 1680 1526 9
Nm 46.0 46.0
Mpeak2
(lb in) (407) (407)
DRL90L4
nbase (400 V) rpm 1245 1294
10
nbase (530 V) rpm 1807 1912
Mpeak2
Nm 45.7 69.2 85.0 85.0 11
(lb in) (405) (613) (753) (753)
DRL100L4
nbase (400 V) rpm 1582 1364 1223 1259
nbase (530 V) rpm 2194 1955 1821 1877
12
Nm 71.7 96.4 146 150
Mpeak2
DRL132S4
(lb in) (635) (854) (1293) (1328) 13
nbase (400 V) rpm 1512 1406 1201 1201
nbase (530 V) rpm 2057 1934 1688 1688
Nm 93.6 143 192 200 14
Mpeak2
(lb in) (829) (1267) (1700) (1771)
DRL132MC4
nbase (400 V) rpm 1600 1500 1395 1500 15
nbase (530 V) rpm 2156 2033 1916 2074
Nm 149 201 280 280
Mpeak2
(lb in) (1320) (1780) (2480) (2480) 16
DRL160M4
nbase (400 V) rpm 1498 1403 1266 1303
nbase (530 V) rpm 2025 1909 1751 1830
17
Nm 156 210 318 320
Mpeak2
(lb in) (1382) (1860) (2816) (2834)
DRL160MC4
nbase (400 V) rpm 1440 1366 1223 1292 18
nbase (530 V) rpm 1935 1851 1682 1777
Nm 154 208 315 380 380
Mpeak2
(lb in) (1364) (1842) (2790) (3366) (3366)
19
DRL180S4
nbase (400 V) rpm 1571 1492 1329 1234 1271
nbase (530 V) rpm 2115 2020 1819 1714 1756 20
Nm 154 208 316 423 430
Mpeak2
(lb in) (1364) (1842) (2799) (3746) (3808)
DRL180M4
nbase (400 V) rpm 1656 1593 1461 1334 1371
21
nbase (530 V) rpm 2215 2136 1983 1825 1904
Mpeak2
Nm 211 323 433 520 22
(lb in) (1869) (2861) (3835) (4605)
DRL180L4
nbase (400 V) rpm 1582 1482 1382 1329
nbase (530 V) rpm 2125 2004 1877 1846

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak2 [A] 5 10 20 30 40 60 80 120 160 250
Nm 196 302 406 600
Mpeak2
(lb in) (1736) (2675) (3596) (5314)
DRL180LC4
nbase (400 V) rpm 1661 1577 1487 1324
nbase (530 V) rpm 2220 2109 2004 1793
Nm 300 405 637
Mpeak2
(lb in) (2657) (3587) (5642)
DRL200L4
nbase (400 V) rpm 1608 1542 1388
nbase (530 V) rpm 2152 2067 1875
Nm 306 415 657
Mpeak2
(lb in) (2710) (3676) (5819)
DRL225S4
nbase (400 V) rpm 1627 1575 1453
nbase (530 V) rpm 2170 2105 1959
Nm 357 571
Mpeak2
(lb in) (3162) (5057)
DRL225MC4
nbase (400 V) rpm 1800 1706
nbase (530 V) rpm 2395 2283

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak1 [A] 5 10 20 30 40 60 80 120 160 250
Nm 5.00 5.00
3
Mpeak1
(lb in) (44.3) (44.3)
DRL71S4
nbase (400 V) rpm 2088 2250 4
nbase (530 V) rpm 2981 3284
Nm 7.00 7.00
Mpeak1
(lb in) (62.0) (62.0) 5
DRL71M4
nbase (400 V) rpm 1962 2250
nbase (530 V) rpm 2735 3241 6
Nm 10.00
Mpeak1
(lb in) (88.6)
DRL80S4
nbase (400 V) rpm 2222 7
Nm 14.0 14.0
Mpeak1 8
(lb in) (124) (124)
DRL80M4
nbase (400 V) rpm 2271 2398
nbase (530 V) rpm 3199 3403 9
Nm 25.0 25.0
Mpeak1
(lb in) (221) (221)
DRL90L4
nbase (400 V) rpm 2489 2616
10
nbase (530 V) rpm 3452 3649
Mpeak1
Nm 40.0 40.0 11
(lb in) (354) (354)
DRL100L4
nbase (400 V) rpm 2538 2714
nbase (530 V) rpm 3502 3790
12
Nm 78.0 80.0
Mpeak1
DRL132S4
(lb in) (691) (709) 13
nbase (400 V) rpm 1869 2145
nbase (530 V) rpm 2531 2930
Nm 116 130 130 14
Mpeak1
(lb in) (1027) (1151) (1151)
DRL132MC4
nbase (400 V) rpm 1934 2127 2391 15
nbase (530 V) rpm 2607 2871 3246
Nm 118 159 165
Mpeak1
(lb in) (1045) (1408) (1461) 16
DRL160M4
nbase (400 V) rpm 1988 1893 2173
nbase (530 V) rpm 2663 2552 2943
17
Nm 112 153 185
Mpeak1
(lb in) (992) (1355) (1638)
DRL160MC4
nbase (400 V) rpm 2051 1983 2204 18
nbase (530 V) rpm 2737 2658 2964
Nm 163 210 210
Mpeak1
(lb in) (1444) (1860) (1860)
19
DRL180S4
nbase (400 V) rpm 1993 2088 2220
nbase (530 V) rpm 2674 2805 3001 20
Nm 164 250 250
Mpeak1
(lb in) (1452) (2214) (2214)
DRL180M4
nbase (400 V) rpm 2072 1956 2257
21
nbase (530 V) rpm 2774 2626 3038
Mpeak1
Nm 251 320 320 22
(lb in) (2223) (2834) (2834)
DRL180L4
nbase (400 V) rpm 1999 1978 2278
nbase (530 V) rpm 2679 2647 3074

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak1 [A] 5 10 20 30 40 60 80 120 160 250
Nm 241 326 420
Mpeak1
(lb in) (2134) (2887) (3720)
DRL180LC4
nbase (400 V) rpm 2030 1946 2004
nbase (530 V) rpm 2711 2605 2689
Nm 239 324 475
Mpeak1
(lb in) (2117) (2870) (4207)
DRL200L4
nbase (400 V) rpm 2053 1992 1936
nbase (530 V) rpm 2738 2658 2588
Nm 325 518
Mpeak1
(lb in) (2878) (4588)
DRL225S4
nbase (400 V) rpm 2053 1941
nbase (530 V) rpm 2733 2597
Nm 304 491
Mpeak1
(lb in) (2692) (4349)
DRL225MC4
nbase (400 V) rpm 2109 2020
nbase (530 V) rpm 2803 2695

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak2 [A] 5 10 20 30 40 60 80 120 160 250
Nm 7.47 8.50
3
Mpeak2
(lb in) (66.2) (75.3)
DRL71S4
nbase (400 V) rpm 1561 1526 4
nbase (530 V) rpm 2257 2306
Nm 7.91 14.0
Mpeak2
(lb in) (70.1) (124) 5
DRL71M4
nbase (400 V) rpm 1786 1378
nbase (530 V) rpm 2496 2060 6
Nm 18.9
Mpeak2
(lb in) (167)
DRL80S4
nbase (400 V) rpm 1413 7
Nm 19.5 30.0
Mpeak2 8
(lb in) (173) (266)
DRL80M4
nbase (400 V) rpm 1751 1399
nbase (530 V) rpm 2468 2095 9
Nm 39.0 46.0 46.0
Mpeak2
(lb in) (345) (407) (407)
DRL90L4
nbase (400 V) rpm 1765 1772 1814
10
nbase (530 V) rpm 2461 2538 2630
Mpeak2
Nm 54.4 73.0 85.0 11
(lb in) (482) (647) (753)
DRL100L4
nbase (400 V) rpm 1997 1814 1737
nbase (530 V) rpm 2763 2552 2517
12
Nm 78.0 118 150 150
Mpeak2
DRL132S4
(lb in) (691) (1045) (1328) (1328) 13
nbase (400 V) rpm 1869 1676 1523 1576
nbase (530 V) rpm 2531 2303 2115 2197
Nm 116 156 200 14
Mpeak2
(lb in) (1027) (1382) (1771)
DRL132MC4
nbase (400 V) rpm 1934 1840 1857 15
nbase (530 V) rpm 2607 2496 2537
Nm 118 159 240 280
Mpeak2
(lb in) (1045) (1408) (2126) (2480) 16
DRL160M4
nbase (400 V) rpm 1988 1893 1719 1656
nbase (530 V) rpm 2663 2552 2341 2299
17
Nm 112 153 234 314 320
Mpeak2
(lb in) (992) (1355) (2072) (2781) (2834)
DRL160MC4
nbase (400 V) rpm 2051 1983 1851 1724 1835 18
nbase (530 V) rpm 2737 2658 2500 2347 2494
Nm 163 249 334 380
Mpeak2
(lb in) (1444) (2205) (2958) (3366)
19
DRL180S4
nbase (400 V) rpm 1993 1840 1688 1624
nbase (530 V) rpm 2674 2489 2299 2220 20
Nm 164 251 337 430
Mpeak2
(lb in) (1452) (2223) (2985) (3808)
DRL180M4
nbase (400 V) rpm 2072 1956 1835 1756
21
nbase (530 V) rpm 2774 2626 2479 2389
Mpeak2
Nm 251 338 520 22
(lb in) (2223) (2994) (4605)
DRL180L4
nbase (400 V) rpm 1999 1904 1703
nbase (530 V) rpm 2679 2563 2310

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak2 [A] 5 10 20 30 40 60 80 120 160 250
Nm 241 326 514
Mpeak2
(lb in) (2134) (2887) (4552)
DRL180LC4
nbase (400 V) rpm 2030 1946 1756
nbase (530 V) rpm 2711 2605 2368
Nm 239 324 513
Mpeak2
(lb in) (2117) (2870) (4543)
DRL200L4
nbase (400 V) rpm 2053 1992 1842
nbase (530 V) rpm 2738 2658 2475
Nm 325 518
Mpeak2
(lb in) (2878) (4588)
DRL225S4
nbase (400 V) rpm 2053 1941
nbase (530 V) rpm 2733 2597
Nm 304 491
Mpeak2
(lb in) (2692) (4349)
DRL225MC4
nbase (400 V) rpm 2109 2020
nbase (530 V) rpm 2803 2695

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak1 [A] 5 10 20 30 40 60 80 120 160 250
Nm 5.00 5.00
3
Mpeak1
(lb in) (44.3) (44.3)
DRL71S4
nbase (400 V) rpm 2742 3291 4
nbase (530 V) rpm 3755 4669
Nm 7.00
Mpeak1
(lb in) (62.0) 5
DRL71M4
nbase (530 V) rpm 4500 6
Nm 10.00 10.00
Mpeak1
(lb in) (88.6) (88.6)
DRL80S4
nbase (400 V) rpm 3241 3410 7
nbase (530 V) rpm 4486 4830
Nm 14.0
Mpeak1 8
(lb in) (124)
DRL80M4
nbase (530 V) rpm 4901 9
Nm 25.0 25.0 25.0
Mpeak1
(lb in) (221) (221) (221)
DRL90L4
nbase (400 V) rpm 2988 3642 3797
10
nbase (530 V) rpm 4029 4985 5203
Mpeak1
Nm 39.3 40.0 40.0 11
(lb in) (348) (354) (354)
DRL100L4
nbase (400 V) rpm 3038 3586 3994
nbase (530 V) rpm 4113 4866 5477
12
Nm 54.4 80.0 80.0
Mpeak1
DRL132S4
(lb in) (482) (709) (709) 13
nbase (400 V) rpm 2842 2719 3111
nbase (530 V) rpm 3809 3645 4195
Nm 80.1 109 130 14
Mpeak1
(lb in) (709) (965) (1151)
DRL132MC4
nbase (400 V) rpm 2883 2801 3170 15
nbase (530 V) rpm 3850 3750 4248
Nm 114 165 165
Mpeak1
(lb in) (1010) (1461) (1461) 16
DRL160M4
nbase (400 V) rpm 2784 2689 3032
nbase (530 V) rpm 3723 3596 4071
17
Nm 117 181 185
Mpeak1
(lb in) (1036) (1603) (1638)
DRL160MC4
nbase (400 V) rpm 2642 2521 2921 18
nbase (530 V) rpm 3528 3380 3908
Nm 115 179 210 210
Mpeak1
(lb in) (1019) (1585) (1860) (1860)
19
DRL180S4
nbase (400 V) rpm 2879 2747 2874 3164
nbase (530 V) rpm 3839 3676 3834 4245 20
Nm 179 241 250
Mpeak1
(lb in) (1585) (2134) (2214)
DRL180M4
nbase (400 V) rpm 2879 2769 3243
21
nbase (530 V) rpm 3839 3707 4340
Mpeak1
Nm 181 246 320 22
(lb in) (1603) (2179) (2834)
DRL180L4
nbase (400 V) rpm 2837 2758 2953
nbase (530 V) rpm 3781 3686 3945

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak1 [A] 5 10 20 30 40 60 80 120 160 250
Nm 166 228 364
Mpeak1
(lb in) (1470) (2019) (3224)
DRL180LC4
nbase (400 V) rpm 2958 2885 2711
nbase (530 V) rpm 3934 3844 3623
Nm 227 363
Mpeak1
(lb in) (2010) (3215)
DRL200L4
nbase (400 V) rpm 2916 2780
nbase (530 V) rpm 3877 3708
Nm 229 372
Mpeak1
(lb in) (2028) (3295)
DRL225S4
nbase (400 V) rpm 2911 2812
nbase (530 V) rpm 3862 3741
Nm 318
Mpeak1
(lb in) (2816)
DRL225MC4

Project planning
10

Size 1 2 3 4 5 6 2
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak2 [A] 5 10 20 30 40 60 80 120 160 250
Nm 5.31 8.50
3
Mpeak2
(lb in) (47.0) (75.3)
DRL71S4
nbase (400 V) rpm 2630 2334 4
nbase (530 V) rpm 3621 3382
Nm 11.7
Mpeak2
(lb in) (104) 5
DRL71M4
nbase (530 V) rpm 3270 6
Nm 13.5 25.0
Mpeak2
(lb in) (120) (221)
DRL80S4
nbase (400 V) rpm 2573 1849 7
nbase (530 V) rpm 3579 2735
Nm 28.6 30.0
Mpeak2 8
(lb in) (253) (266)
DRL80M4
nbase (400 V) rpm 2229 2215
nbase (530 V) rpm 3171 3178 9
Nm 28.0 42.9 46.0
Mpeak2
(lb in) (248) (380) (407)
DRL90L4
nbase (400 V) rpm 2735 2489 2644
10
nbase (530 V) rpm 3705 3431 3684
Mpeak2
Nm 39.3 52.9 79.9 85.0 11
(lb in) (348) (469) (708) (753)
DRL100L4
nbase (400 V) rpm 3038 2883 2580 2616
nbase (530 V) rpm 4113 3938 3586 3698
12
Nm 54.4 83.0 111 150
Mpeak2
DRL132S4
(lb in) (482) (735) (983) (1328) 13
nbase (400 V) rpm 2842 2678 2508 2291
nbase (530 V) rpm 3809 3604 3398 3129
Nm 80.1 109 166 200 14
Mpeak2
(lb in) (709) (965) (1470) (1771)
DRL132MC4
nbase (400 V) rpm 2883 2801 2637 2654 15
nbase (530 V) rpm 3850 3750 3551 3580
Nm 114 174 233 280
Mpeak2
(lb in) (1010) (1541) (2064) (2480) 16
DRL160M4
nbase (400 V) rpm 2784 2621 2463 2415
nbase (530 V) rpm 3723 3517 3322 3275
17
Nm 117 181 243 320
Mpeak2
(lb in) (1036) (1603) (2152) (2834)
DRL160MC4
nbase (400 V) rpm 2642 2521 2405 2341 18
nbase (530 V) rpm 3528 3380 3227 3206
Nm 115 179 241 379
Mpeak2
(lb in) (1019) (1585) (2134) (3357)
19
DRL180S4
nbase (400 V) rpm 2879 2747 2610 2294
nbase (530 V) rpm 3839 3676 3502 3106 20
Nm 179 241 380
Mpeak2
(lb in) (1585) (2134) (3366)
DRL180M4
nbase (400 V) rpm 2879 2769 2521
21
nbase (530 V) rpm 3839 3707 3391
Mpeak2
Nm 181 246 390 22
(lb in) (1603) (2179) (3454)
DRL180L4
nbase (400 V) rpm 2837 2758 2563
nbase (530 V) rpm 3781 3686 3444

Project planning

Size 1 2 3 4 5 6
Type IN [A] 2 4 8 12 16 24 32 48 64 100
Ipeak2 [A] 5 10 20 30 40 60 80 120 160 250
Nm 166 228 364
Mpeak2
(lb in) (1470) (2019) (3224)
DRL180LC4
nbase (400 V) rpm 2958 2885 2711
nbase (530 V) rpm 3934 3844 3623
Nm 227 363
Mpeak2
(lb in) (2010) (3215)
DRL200L4
nbase (400 V) rpm 2916 2780
nbase (530 V) rpm 3877 3708
Nm 229 372
Mpeak2
(lb in) (2028) (3295)
DRL225S4
nbase (400 V) rpm 2911 2812
nbase (530 V) rpm 3862 3741
Nm 318
Mpeak2
(lb in) (2816)
DRL225MC4

Project planning
Selecting the braking resistor
10
10.5 Selecting the braking resistor 1
2
DANGER
The supply cables to the braking resistor carry a high DC voltage (about DC 900 V). 3
Severe or fatal injuries from electric shock.
• The braking resistor cables must be suitable for this high DC voltage. 4
• Install the braking resistor cables according to the regulations.
5
WARNING 6
The surfaces of the braking resistors get very hot when the braking resistors are
loaded with Prated.
7
Risk of burns and fire.
• Choose a suitable installation location. Braking resistors are usually mounted on 8
top of the control cabinet.
• Do not touch the braking resistors.
9
10
INFORMATION
• The data given in this chapter apply to BW... braking resistors . 11
• The maximum permitted line length between MOVIAXIS® and the braking resis-
tor is 100 m.
12
13
NOTICE
A thermal overload relay is necessary to protect the braking resistor against overload. 14
These relay types offer a setting option for the trip current. Set the trip current to the
nominal current of the resistor.
15
Do not use a motor protection switch.
Important: Do not open the power contacts of the braking resistors in case of thermal
16
overload. The connection between the braking resistor and the DC link must not be
interrupted. Instead, the control contact of the overload relay opens relay K11
(→ Operating instructions, chapter "Wiring diagrams"). 17
18
19
20
21
22

Project planning
10 Selecting the braking resistor
10.5.1 Table of braking resistors
MOVIAXIS® MX power supply module Size 1 Size 2 Size 3

10 kW 25 kW 50 kW 75 kW
Minimum braking resistance R in Ω 27 12 5.8 3.6
Braking resistors Trip current 1) Part number
0.6 kW continu- 0.6 kW continu- 0.6 kW continu- 0.6 kW continu-
ous ous ous ous
BW027-006 IF = 4.7 A 822 422 6
34 kW Pmax 34 kW Pmax 34 kW Pmax 34 kW Pmax
27 Ω 27 Ω 27 Ω 27 Ω
1.2 kW continu- 1.2 kW continu- 1.2 kW continu- 1.2 kW continu-
ous ous ous ous
BW027-012 IF = 6.7 A 822 423 4
34 kW Pmax 34 kW Pmax 34 kW Pmax 34 kW Pmax
27 Ω 27 Ω 27 Ω 27 Ω
2 kW continuous 2 kW continuous 2 kW continuous 2 kW continuous
BW247 IF = 6.5 A 820 714 3 20 kW Pmax 20 kW Pmax 20 kW Pmax 20 kW Pmax
47 Ω 47 Ω 47 Ω 47 Ω
BW247-T2) IF = 6.5 A 1 820 048 2 20 kW Pmax 20 kW Pmax 20 kW Pmaxx 20 kW Pmax
47 Ω 47 Ω 47 Ω 47 Ω
BW347 IF = 9.2 A 820 798 4 20 kW Pmax 20 kW Pmax 20 kW Pmax 20 kW Pmax
47 Ω 47 Ω 47 Ω 47 Ω
BW347-T2) IF = 9.2 A 1 820 135 0 20 kW Pmax 20 kW Pmax 20 kW Pmax 20 kW Pmax
47 Ω 47 Ω 47 Ω 47 Ω
BW039-050-T2) IF = 11.3 A 1 820 137 7 24 kW Pmax 24 kW Pmax 24 kW Pmax 24 kW Pmax
39 Ω 39 Ω 39 Ω 39 Ω
1.5 kW continu- 1.5 kW continu- 1.5 kW continu-
ous ous ous
BW012-015 IF = 11.2 A 821 679 7
62.5 kW Pmax 62.5 kW Pmax 62.5 kW Pmax
12 Ω 12 Ω 12 Ω
BW012-015 ous ous ous
IF = 14.4 A 1 820 010 9
1 Ω central tap3) 62.5 kW Pmax 62.5 kW Pmax 62.5 kW Pmax
12 Ω 12 Ω 12 Ω
ous ous ous
BW012-025 IF = 14.4 A 821 680 0
12 Ω 12 Ω 12 Ω
ous ous ous
BW012-025-P4) IF = 14.4 A 1 820 414 7
12 Ω 12 Ω 12 Ω
5 kW continuous 5 kW continuous 5 kW continuous
BW012-050 IF = 20.4 A 821 681 9 62.5 kW Pmax 62.5 kW Pmax 62.5 kW Pmax
12 Ω 12 Ω 12 Ω
BW012-100-T2) IF = 28.8 A 1 820 141 5 62.5 kW Pmax 62.5 kW Pmax 62.5 kW Pmax
12 Ω 12 Ω 12 Ω
BW915-T2) IF = 31.6 A 1 820 413 9 62.5 kW Pmax 62.5 kW Pmax 62.5 kW Pmax
15 Ω 15 Ω 15 Ω

Project planning
10
MOVIAXIS® MX power supply module Size 1 Size 2 Size 3 1

10 kW 25 kW 50 kW 75 kW
Minimum braking resistance R in Ω 27 12 5.8 3.6
2
Braking resistors Trip current 1) Part number
2.5 kW continu- 2.5 kW continu-
BW006-025-01
IF = 20.76 A 1 820 011 7
ous ous 3
1 Ω central tap3) 156 kW Pmax 156 kW Pmax
6Ω 6Ω
5 kW continuous 5 kW continuous 4
BW006-050-01
IF = 29.4 A 1 820 012 5 156 kW Pmax 156 kW Pmax
1 Ω central tap3)
6Ω 6Ω
5 kW continuous
5
BW004-050-01
IF = 37.3 A 1 820 013 3 235 kW Pmax
1 Ω central tap3)
4Ω 6
13 kW continuous 13 kW continuous
BW106-T2) IF = 46.5 A 1 820 083 4 125 kW Pmax 125 kW Pmax
6Ω 6Ω 7
18 kW continuous 18 kW continuous
BW206-T2) IF = 54.7 A 1 820 412 0 125 kW Pmax 125 kW Pmax
6Ω 6Ω
8
0.2 kW continu-
Internal braking
resistor
ous 9
25 kW Pmax
(MXP81A-010)
27 Ω
1) See note on how to protect the braking resistor in the section "Overload protection of the braking resistor". 10
2) Braking resistor with temperature switch
3) Braking resistors with 1 Ω center tap are only required when a DC link discharge module is used 11
4) Braking resistor with temperature relay
12
10.5.2 Selection criteria
Selection of the braking resistor is based on the following criteria: 13
• Peak braking power
14
• Brake chopper
• Thermal braking power
15
10.5.3 Peak braking power 16

The DC link voltage and the braking resistor value determine the maximum braking
power that the braking resistor can handle for a short period of time. 17
The peak braking power is calculated as follows:
18
U 2DC
Pmax =
R
1721694219 19
VDC is the maximum DC link voltage. It is DC 970 V for MOVIAXIS®.
The peak braking power for each braking resistor is listed in the table of braking resis-
20
tors.
21
22

Project planning
10.5.4 Brake chopper

• Peak braking power
The brake chopper has the same overload characteristics as the power supply mod-
ule and therefore does not have to be considered for project planning.
• Continuous braking power
The brake chopper can cope with 50 % of the nominal power of the power supply
module as continuous braking power. The value P100%cdf described in the following
section "Thermal braking power" is used as the basis for the calculation here.
Nominal power of supply module

P100%cdf <
2
1721697803
10.5.5 Thermal braking power

The thermal braking power must be taken into account when carrying out project plan-
ning for the braking resistor.
This condition takes into account the heating of the braking resistor over the entire cycle.
The thermal braking power is calculated using the energy content of the entire cycle.
• Determining the regenerative energy
Wtot = Pgen 1 x t 1 + Pgen 2 x t 2 + ..... + Pgen n x t n

1721726475
Wtot Regenerative energy during the entire cycle.

Pgen Power in the regenerative travel section (the constant average value of the peak power can
be used for sections with deceleration).
tn Duration of the individual travel sections
The motor travel sections and pauses are not taken into account.
• Determining the virtual braking time
The virtual braking time is the time during which the regenerative energy Wtot is reduced
to a braking operation. The power value is based on the maximum occurring regenera-
tive power.
Wtot
t vB =
Pgen max
1721729547
tvB Virtual braking time

Pgen max Maximum occurring regenerative power
• Determining the relative regenerative cyclic duration factor
t vB
cdf regen=
T
1721732619
cdfgen Relative regenerative cyclic duration factor with reference on the virtual braking time
T Cycle time (cycle duration) (pauses and motor travel sections not included in calculation)

Project planning
10
• Determining the overload factor 1
Overload factors for tubular and grid resistors for different cycle times 2
100
3
4
Cycle time
tubular resistors 5
6
10
s
30 s
s
60
Cycle time
7
12
0s
grid resistors
10 0s
s
8
3
60
s
12
0s 9
10
Overload factor
10
11
12
13
4
14
15
16
17
1 18
1 10 25 100
cdf values [%]
19
1721735691
20
21
22

Project planning
• Determining the required braking resistor power

The overload factor can be used to calculate the required braking resistor power based
on 100% cdf (catalog value).
Pgen max
P100%cdf =
Overload factor
1721915787
P100%cdf Braking resistor power based on 100% cdf
• Selecting the braking resistor from the catalog

With 100% cdf power, the braking resistor can be selected from the catalog.
10.5.6 Sample calculation for a 10 kW power supply module

• Minimum permitted braking resistance: 27 Ω
• Seven braking resistors are assigned to the 10 kW power supply module, see "Table
of braking resistors".
The following figure shows the sum of the regenerative power of all axes.
2,5
t5
2
t1
1,5
P [kW]
t3
0,5
t2 t4 t6
0
0 1 2 3 4 5 6 7 8 9 10
t [s]
1721970187

Project planning
10
Determining the 1
fed back energy
Wtot = Pgen 1 x t 1 + Pgen 2 x t 2 + ..... + Pgen n x t n
2
Wtot = 1.5 kW x 1 s + 0.5 kW x 3 s + 2 kW x 1 s = 5 kWs
1721973259 3
Determining the 4
virtual braking time
Wtot
t vB = 5
Pgen max
t vB = 5 kWs = 2.5 s 6
2 kW
1721975179
7
Determining the
relative regenera- 8
tive cyclic duration t vB
cdf gen =
factor T
9
cdf gen = 2.5 s = 25 %
10 s
1721977099
10
Determining the Determining the factor using the "Overload factor" diagram.
overload factor
11
Overload factor: 4 (with cdfregen= 25%, laminated resistor and cycle time = 10 s).
12
Determining the
required braking
resistor power Pgen max 13
P100%cdf =
Overload factor
P100%cdf = 2 kW = 500 W
14
4
1721984523
15
Braking resistor The following braking resistor is selected from the catalog:
selection 16
BW027-006 with 600 W continuous power.
17
18
19
20
21
22

Project planning
10.5.7 Overload protection of the braking resistor
NOTICE
A thermal overload relay is necessary to protect the braking resistor against overload.
These relay types offer a setting option for the trip current. Set the trip current to the
nominal current of the resistor.
Do not use a motor protection switch.
Important: Do not open the power contacts of the braking resistors in case of thermal
overload. The connection between the braking resistor and the DC link must not be
interrupted. Instead, the control contact of the overload relay opens relay K11 (→
Operating instructions, chapter "Wiring diagrams").
10.5.8 Unit temperature
WARNING
The surfaces of the braking resistors get very hot when the braking resistors are
loaded with Prated.
• Choose a suitable installation location. Braking resistors are usually mounted on
• Do not touch the braking resistors.
INFORMATION
Braking resistors can become very hot during operation. The high temperatures can
heat up the cage of the braking resistor to over 100 °C.
This means the ventilation, size of the installation site and distance to components and
parts at risk must be provided for accordingly.
The braking resistor usually delivers its nominal power for an extended period of time.

Project planning
Selecting the 24 V supply
10
10.6 Selecting the 24 V supply 1

The axis modules require a supply voltage of 24 V at two separate connection terminals:
2
• Electronics supply
• Brake supply
3
MXP MXA MXA MXA MXA MXS 4

1 2 3 4
X16 24 V external
X5 X5 X5 X5 X5
5
X5
a b a b a b a b a b a b
24 V electronics 6
24 V brake
7
1721992203
8
24 V DC 24 V voltage supply MXA 1 ... MXA 4 Axis modules unit 1 to unit 8
MXP Power supply module MXS 24 V switched-mode power supply
9
INFORMATION 10
MXS is equipped with two separate electronics supply voltage and one brake supply
voltage. For information on the terminal assignment of the MXS, refer to the Installa- 11
tion chapter (page 585).
12
10.6.1 Project planning for 24 V supply power
The current path and power ratios present when switching on the 24 V voltage supply 13
are shown in the figure below.
The current path is basically divided into three time ranges. 14
I/P
15
[1]
≈ ≈ 16
I on /Pon 17
18
19
I N /PN
20
1 2 3
ton
21
t
1722012555
22
[1] Charging current due to internal input capacitance Cinput
1. Describes the charging process of the input capacitors in each unit. A time period
cannot be specified because the charging time is significantly influenced by the prop-

Project planning
10 Selecting the 24 V supply
erty of the power supply and the cable dimensioning. You therefore have to calculate
the total of all unit capacitances using the table below. Manufacturers of switched-
mode power supplies usually specify technical data about the loadable capaci-
tances. The charging time 1 is very short in comparison with time range 2. The SEW
switched-mode power supply module MXS is capable of reliably activating the com-
bination of units with the highest possible capacitance.
2. This is the time interval when the unit's internal switched-mode power supplies start
up. The total of the maximum power consumption must be calculated for this time pe-
riod. The power supply must be capable of providing this total power for at least 100
ms. The SEW switched-mode power supply module MXS meets this requirement.
3. Nominal power range. The required rated power of the supply source results from the
total rated power of all connected devices.
Table for project planning according to points 1 – 3.

Max. inrush current1) in A
Nominal current IN /
Supply voltage Switch-on pulse dura- Input capaci-
in A / nominal
Unit type for electronics Power Pon tion ton tance Con
power PN in W
V in W ms µF
(With fan)
(Without fan)
MXA BG1 0.7 / 17 2 / 48 60 600
MXA BG2 0.95 / 23 2.2 / 53 70 600
MXA BG3 1.3 / 31.2 2.1 / 50 90 600
18 – 30
MXA BG4 2.2 / 53 2 / 48 80 700
MXA BG5 2.3 / 55 2 / 48 80 700
MXA BG6 3.2 / 77 2.5 / 60 60 1000
MXP BG1 0.5 / 12 0.3 / 7 40 100

MXP BG2 0.7 / 17 1.2 / 29 20 300
18 – 30
MXP BG3 0.8 / 19 0.6 / 14 60 500
MXP81 0.7 / 17 0.4 / 10 50 100
MXR80/81 18 – 30 3.8 / 91 3.5 / 84 90 1000
MXZ 0.1 / 2.5 0.3 / 7 60 50

18 – 30
MXC 1 / 24 2.7 / 65 400 300
MXM2) 18 – 30 0.6 / 14.4 0.6 / 14.4 30 50


Project planning
10
Max. inrush current1) in A 1

Nominal current IN /
Supply voltage Switch-on pulse dura- Input capaci-
in A / nominal
Unit type for electronics Power Pon tion ton tance Con
power PN in W
V in W ms µF 2
(With fan)
(Without fan)
P [W] – – – 3
XSE is part of the basic unit – –
XFE 3 – – –
4
XFP 3 – –
XFA 2 – –
Power supply via Is taken into account in the
5
XIO 1 – –
basic unit specifications of the basic
XIA 1 unit – –
XGH3) 2 – –
6
XGS3) 2 – –
1) The maximum inrush current can be smaller than the nominal current in some cases, as there is no fan active yet when the unit is
7
switched on.
2) Valid in combination with DHx and UFx 8
3) Specifications without encoder connected. Maximum power that can be connected: 12 W
9
®
MOVIAXIS MXM
electronics data 10
Power consump-
tion of MOVIAXIS®
MXM master mod-
Master module 11
ule See technical data of the integrated card. Due to the efficiency of 85 %
Power of the integrated switched-mode power supply unit, the power con-
sumption of the integrated card must be multiplied by factor 1.2. 12
10.6.2 Single and dual-bus supply

13
The following figure shows a single-bus electronics and brake supply.
14
15
MXZ MXP MXA MXA MXA MXA
1 2 3 4
16
X5 X5 X5 X5 X5 X5
Source * Source *
a b a b a b a b a b a b 24 V 24 V 17
Electronics
supply
18
Brake
supply - + - +
9007200976757131
19
The figure "Dual-bus electronics and brake supply" shows the separation of the 24 V
electronics supply between the MXA 4 axis module and the MXA 5 axis module and is 20
a sample application for the current load at plug-in contacts > 10 A. If the anticipated
current load >10 A, you must install the two-bus supply. 21
The breakpoint of the electronics supply with dual-bus supply must be arranged so that
the current loads of the two segments are split evenly. 22

Project planning
10 Selecting the 24 V supply
The following figure shows a dual-bus electronics and brake supply.
MX Z MXP MXA MXA MXA MXA MXA MXA MXA MXA

1 2 3 4 5 6 7 8
X5 X5 X5 X5 X5 X5 X5 X5 X5 X5
Source * Source *
a b a b a b a b a b a b a b a b a b a b 24 V 24 V
Electronics
supply
Brake
supply - + - +
9007200976759051
* We recommend the 24 V switched-mode power supply module MXS from SEW-

EURODRIVE
10.6.3 Requirements on the voltage tolerance of the 24 V supply

Three cases have to be distinguished when configuring the 24 V voltage supply.
1. The following servo brakemotors are connected to the MOVIAXIS® axis system, or
combined operation with the motors mentioned in case 2.
• CMP40 / 50 / 63 / 71 and CMS / CMSB50 – 71: Cable length < 25 m
2. The brake output is used as control output (e.g. brake control via a BMK, BME brake
rectifier); that is, only the following servo brakemotors are connected to the
MOVIAXIS® axis system, or the brake cables have the specified lengths:
• DRL
• CT/CV
• CFM,
• For brake cable lengths larger than 25 m,
• CMP40 / 50 / 63 / 71 for brake cable lengths larger than 25 m,
• CMP80 / 100 / 112
• CMS / CMSB50 – 71
3. No motor with brake connected.
Voltage supply Case No. 1 Case No. 21) Case No. 3

Electronics voltage supply 24 V ± 25% 24 V ± 25%
24 V ± 25%
Brake voltage supply 24 V +10% / - 0% None
1) Use a common voltage source
For detailed information about direct 24 V brake supply, refer to chapter "Direct brake
control" (page 80).

Project planning
10
Operating currents for BP brakes 1
BP01 BP04 BP09 BP1 BP3 BP5

2
maximum braking torque in Nm 0.95 4.3 9.3 14 31 47
Braking power in W 7 10.2 16 19.5 28 33 3
Nominal voltage VN
4
I I I I I I
VDC
ADC ADC ADC ADC ADC ADC
24 (21.6 – 26.4) 0.29 0.42 0.67 0.81 1.17 1.38 5
I Operating current
VN Nominal voltage (nominal voltage range) 6
When dimensioning the 24 V supply, it is not necessary to consider a current reserve for
releasing the brake, i.e. the ratio of inrush current to operating current is 1. 7
10.6.4 Brake control

8
Motor brakes must only be controlled via digital output X6, DB00 on the MOVIAXIS®
axis module and not via other electronic devices, such as controllers. 9
10
10.6.5 Connecting AC brakemotors
For detailed information about the SEW brake system, refer to the "AC Motors" and
"Synchronous Servomotors" catalogs, which you can order from SEW-EURODRIVE.
11
12
13
14
15
16
17
18
19
20
21
22

General information
11 Structure of the safety notes
11 General information
11.1 Structure of the safety notes
11.1.1 Meaning of signal words
The following table shows the graduation and meaning of the signal words for safety
notes, warnings regarding potential risks of damage to property, and other notes.
Signal word Meaning Consequences if disregarded
DANGER Imminent hazard Severe or fatal injuries
WARNING Possible dangerous situation Severe or fatal injuries
CAUTION Possible dangerous situation Minor injuries
NOTICE Possible damage to property Damage to the drive system or its envi-
ronment
INFORMATION Useful information or tip: Simpli-
fies handling of the drive sys-
tem.
11.1.2 Design of the section-related safety notes

Section-related safety notes do not apply to a specific action, but to several actions per-
taining to one subject. The symbols used either indicate a general hazard or a specific
hazard.
This is the formal structure of a safety note for a specific section:
SIGNAL WORD
Type and source of danger.
Possible consequence(s) if disregarded.
• Measure(s) to prevent the danger.
11.1.3 Design of the embedded safety notes

Embedded safety notes are directly integrated into the instructions just before the de-
scription of the dangerous action.
This is the formal structure of an embedded safety note:
• SIGNAL WORD Type and source of hazard.
Possible consequence(s) if disregarded.
– Measure(s) to prevent the hazard.
11.2 Rights to claim under warranty

A requirement of fault-free operation and fulfillment of any rights to claim under limited
warranty is that you adhere to the information in the operating instructions. Therefore,
read the operating instructions before you start working with the unit.
Make sure that the operating instructions are available to staff responsible for the plant
and its operation, as well as to persons who work independently on the unit. You must
also ensure that the documentation is legible and accessible at all times.

General information
Exclusion of liability
11
11.3 Exclusion of liability 1

You must comply with the information contained in these operating instructions to en-
sure safe operation of the MOVIAXIS® multi-axis servo inverter and to achieve the spec- 2
ified product characteristics and performance requirements. SEW-EURODRIVE as-
sumes no liability for injury to persons or damage to equipment or property resulting from 3
non-observance of these operating instructions. In such cases, any liability for defects
is excluded.
4
11.4 MXR supply and regenerative module 5
In these operating instructions, the MXR supply and regenerative module is mentioned
6
as an optional component of a MOVIAXIS® axis system.
For detailed information about sinusoidal power regeneration, refer to the manual
"MXR80 Supply and Regenerative Module". For detailed information about block-
7
shaped power regeneration, refer to the manual "MXR81 Supply and Regenerative
Module". 8
9
11.5 Copyright
© 2013 - SEW-EURODRIVE. All rights reserved. 10
Unauthorized duplication, modification, distribution, or other utilization of the whole or
any part of this documentation is strictly prohibited. 11
12
13
14
15
16
17
18
19
20
21
22

Safety notes
12 Safety notes
The following basic safety notes must be read carefully to prevent injury to persons and
damage to property. The operator must ensure that the basic safety notes are read and
adhered to. Make sure that persons responsible for the plant and its operation, as well
as persons who work independently on the unit, have read through the operating instruc-
tions carefully and understood them. If you are unclear about any of the information in
this documentation or if you require further information, please contact SEW-
EURODRIVE.
12.1 General information

Never install damaged products or put them into operation. Submit a complaint to the
shipping company immediately in the event of damage.
During operation, multi-axis servo inverters can have live, bare and movable or rotating
parts as well as hot surfaces, depending on their enclosure.
Removing covers without authorization, improper use as well as incorrect installation or
operation may result in severe injuries to persons or damage to property.
Refer to this documentation for more information.
12.2 Target group

Only qualified electricians are authorized to install, startup or service the units or
correct unit faults (observing IEC 60364 or CENELEC HD 384 or DIN VDE 0100 and
IEC 60664 or DIN VDE 0110 as well as national accident prevention guidelines).
Qualified personnel in the context of these basic safety notes are all persons familiar
with installation, assembly, startup and operation of the product who possess the nec-
essary qualifications.
Any activities regarding transportation, storage, operation, and disposal must be carried
out by persons who have been instructed appropriately.
12.3 Designated use

MOVIAXIS® MX multi-axis servo inverters are units for use in industrial and commercial
systems to operate permanent-field synchronous AC motors and asynchronous AC
motors with encoder feedback. These motors must be suitable for operation with servo
inverters. Connect other loads to the units only after you have consulted the manufac-
turer.
MOVIAXIS® MX multi-axis servo inverters are intended for use in metal control cabinets.
These metal control cabinets represent the necessary enclosure for the application as
well as the grounding over a large area required for EMC purposes.
When installed in machines, startup of the multi-axis servo inverters (i.e. start of desig-
nated operation) is prohibited until it is determined that the machine meets the require-
ments stipulated in EC directive 2006/42/EC (Machine Directive). You must also
observe EN 60204.

Safety notes
Transportation and storage
12
Startup (i.e. the start of designated use) is only permitted under observance of the EMC 1
directive (2004/108/EC).
The multi-axis servo inverters meet the requirements stipulated in the low voltage guide- 2
line 2006/95/EC. The harmonized standards of the EN 61800-5-1/DIN VDE T105 series
in connection with EN 60439-1/VDE 0660 part 500 and EN 60146/VDE 0558 are ap-
plied to these multi-axis servo inverters. 3
You must observe the technical data and information on the connection requirements
as provided on the nameplate and in the documentation. 4
12.3.1 Safety functions

5
MOVIAXIS® multi-axis servo inverters may not execute any safety functions without
higher-level safety systems. Use higher-level safety systems to ensure protection of 6
equipment and personnel.
For safety applications, refer to the information in the following publication: 7
• "MOVIAXIS® Multi-Axis Servo Inverters – Functional Safety".
8
12.4 Transportation and storage 9
You must observe the notes on transportation, storage and proper handling. Observe 10
the climatic conditions as stated in the chapter "General technical data".
11
12.5 Installation
12
The units must be installed and cooled according to the regulations and specifications
in the corresponding documentation.
13
Protect multi-axis servo inverters from excessive strain. Ensure that components are not
deformed and/or insulation spaces are maintained, particularly during transportation.
Avoid contact with electronic components and contacts.
14
Multi-axis servo inverters contain components that can be damaged by electrostatic
energy and could be destroyed in case of improper handling. Prevent mechanical dam- 15
age or destruction of electric components. This may pose health risks under certain
circumstances. 16
The following applications are prohibited unless the unit is explicitly designed for such
use: 17
• Use in potentially explosive areas.
• Use in areas exposed to harmful oils, acids, gases, vapors, dust, radiation, etc. 18
• Use in non-stationary applications that are subject to mechanical vibration and
impact loads in excess of the requirements in EN 61800-5-1. 19
20
21
22

Safety notes
12 Electrical connection
12.6 Electrical connection

Observe the applicable national accident prevention guidelines when working on live
multi-axis servo inverters (for example, BGV A3).
Perform electrical installation according to the pertinent regulations, e.g. cable cross
sections, fusing, protective conductor connection. For any additional information, refer
to the applicable documentation.
You will find notes on EMC-compliant installation, such as shielding, grounding,
arrangement of filters and routing of lines, in the documentation of the multi-axis servo
inverter. Always observe these notes even with multi-axis servo inverters bearing the
CE marking. The manufacturer of the system or machine is responsible for maintaining
the limits established by EMC legislation.
Protective measures and protection devices must comply with the regulations in force,
e.g. EN 60204 or EN 61800-5-1.
Required preventive measure: Grounding the unit.
Cables may only be connected and switches may only be operated in a de-energized
state.
12.7 Safe disconnection

The unit meets all requirements for safe disconnection of power and electronic connec-
tions in accordance with EN 61800-5-1. All connected circuits must also satisfy the
requirements for safe disconnection.
12.8 Operation
Systems with integrated multi-axis servo inverters might have to be equipped with addi-
tional monitoring and protection devices so they comply with applicable safety guide-
lines, such as the law governing technical equipment, accident prevention regulations,
etc. Changes to the drive inverters using the software are permitted.
Do not touch live components or power connections immediately after disconnecting the
multi-axis servo inverters from the supply voltage because there may still be some
charged capacitors. Note the respective labels on the multi-axis servo inverter.
state.
Keep all covers and doors closed during operation.
The unit may still be live and connected to the supply system, even if the operation LEDs
and other display elements are no longer illuminated.
Mechanical blocking or internal safety functions of the unit can cause a motor standstill.
Eliminating the cause of the problem or performing a reset may result in the drive re-
starting automatically. If this is not permitted for the driven machine for safety reasons,
disconnect the unit from the supply system before correcting the fault.

Safety notes
Unit temperature
12
Two-row configuration of the axis system: 1

®
The two-row MOVIAXIS axis system without protection caps at the insulators
has the degree of protection IP00. 2
The axis system with two rows may only be operated with installed protection
caps at the insulators. 3
Connecting a BST brake module to MOVIAXIS®: 4

®
When connecting a BST without protection caps at the insulators, the MOVIAXIS
axis system has the degree of protection IP00. 5
The axis system must only be operated with installed protection caps at the insu-
lators. 6
7
12.9 Unit temperature
MOVIAXIS® multi-axis servo inverters are usually operated with braking resistors. The 8
braking resistors can also be installed in the housing of the power supply modules.
The braking resistors can reach a surface temperature in the range of 70 °C to 250 °C. 9
Never touch the housings of the MOVIAXIS® modules or the braking resistors during
operation or in the cool down phase once the unit has been switched off. 10
11
12
13
14
15
16
17
18
19
20
21
22

Unit design
13 Axis system with CAN-based system bus
13 Unit design
13.1 Axis system with CAN-based system bus
[1] [2] [3] [4] [5] [6] [7] [8] [9] [10]
1402308491

[3] Power supply module size 3 [8] Axis module size 2
[4] Axis module size 6 [9] Axis module size 1
[5] Axis module size 5 [10] 24 V switched-mode power supply module,
additional module

Unit design
Axis system with EtherCAT ®-compatible system bus
13
13.2 Axis system with EtherCAT®-compatible system bus 1
2
[1] [2] [3] [5] [6] [7] [8] [9] [10] [11]
3
LAM
F1
5
10
11
12
[4]
1402312971
13
[3] Power supply module size 3 [9] Axis module size 2 14
[4] Option card for EtherCAT®-compatible system [10] Axis module size 1
bus SBUSplus in all axis modules or unit vari-
ant ...-0E 15
[5] Axis module size 6 [11] 24 V switched-mode power supply mod-
ule, additional module
[6] Axis module size 5 16
17
18
19
20
21
22

Unit design
13 Important information
13.3 Important information

Protective measures and protection devices must comply with the regulations in
force.
Required preventive measure: Protective grounding (protection class I)
The overcurrent protection devices have to be
Required protection devices: designed to protect the lines at the customer's
site.
INFORMATION
Adhere to the specific operating instructions when installing and starting up the motor
and the brake.
WARNING
The "Unit structure" illustrations from chapter "Overview of an axis system" (page 498)
to chapter "Unit structure of MXZ DC link discharge module" (page 516) show the units
without the supplied cover (touch guard). The protection cover protects the area of the
line and braking resistor connections.
Uncovered power connections.
• Never start the unit if the covers are not installed.
• Install the covers according to the regulations.

Unit design
Nameplates and type designations
13
13.4 Nameplates and type designations 1

13.4.1 Structure of the nameplate
2
The nameplate is divided into up to 3 parts depending on the module.
• Part "I" of the nameplate indicates the type designation, production number and sta-
tus.
3
• Part "II" of the nameplate indicates the factory-installed options and the version sta-
tus. 4
• Part "III" of the nameplate (system nameplate) contains the technical data of the
module. 5
The system nameplate is located on the side of the unit for the power supply module
and axis module. 6
The nameplate contains a description of the version and the scope of supply of the multi-
axis servo inverter at the time of delivery. 7
There may be deviations if
• E.g. option cards are installed or removed at a later time
8
• The unit firmware is updated
9
Location of the nameplate
10
III I II
11
12
13
14
1402316683
15
I Part "I" of the nameplate
II Part "II" of the nameplate
16
III Part "III" of the nameplate (system nameplate)
17
18
19
20
21
22

Unit design
13 Nameplates and type designations
13.4.2 Axis module nameplate

The following figure shows the nameplate of the axis module:
[1] [2] I [4] II

[2]
XFA11A XIO11A XFP11A XIA11A XIA11A
10 11 10 10 11 11 11 10 11
[3]
[1]
[3]
III
1402319115
Part "I" of the nameplate: Located on the upper fasten-

I [1] Type designation
ing plate of the module
Part "II" of the nameplate: Located on the upper fas-
II [2] Production number
tening plate of the module
Part "III" of the nameplate: Located on the side of the
III [3] Status
module housing
Communication slots, firm-
[4]
ware status
13.4.3 Power supply module nameplate

The following figure shows the nameplate of the power supply module:
[1] [2] I
[2]
50 01
[3]
[1] 50 01
[3]
III
1402450571
Part "I" of the nameplate: Located on the upper fastening

I [1] Type designation
plate of the module
Part "III" of the nameplate: Located on the side of the module
III [2] Production number
housing
[3] Status

Unit design
13
13.4.4 Type designation for MOVIAXIS® basic units 1

MX A 80 A -004 5 0 3 - 00
2
01-99 = Special design 3
0E = Axis module with built-in, EtherCAT®-compatible SBusplus
system bus 4
3= 3-phase connection type
5
6
50 = U = AC 380 – 500 V supply voltage
7
Variants:
004 = For axis modules the nominal current, such as 004 = 4 A 8
050 = For DC link discharge modules the energy quantity that can
be dissipated, such as 050 = 5000 Ws 9
010 = For power supply modules the nominal power, such as 010
= 10 kW 10
050 = For capacitor, buffer and damping modules the capacity,
such as 050 = 5000 µF
For 24 V switched-mode power supply the power, such as 11
060 = 060 = 600 W
Version 12
13
80 = Sinusoidal regenerative power supply unit MXR
81 = Variant with one safety relay in the MXA axis module
81 = Block-shaped regenerative power supply unit MXR 14
81 = Compact MXP power supply module (integrated BW and
capacitor)
Variant with two safety relays in the MXA axis module
15
82 =
Unit type: 16
A= Axis module
17
B= Buffer module
C= Capacitor module
18
M= Master module
P= Power supply module with brake chopper
19
R= Supply and regenerative module1)
S= 24 V switched-mode power supply module
20
Z= DC link discharge module
MOVIAXIS® 21
- MXR81" 22

Unit design
13 Nameplates and type designations
Type designation for the axis module:

MXA80A-004-503-00 = Axis module with 4 A nominal current
Axis module with 4 A nominal current and integrated SBusplus
MXA80A-004-503-0E =
system bus
Type designation for the buffer module component

MXB80A-050-503-00 = Buffer module with a capacity of
5000 µF
Type designation for the capacitor module component

MXC80A-050-503-00 = Capacitor module with a capacity of
5000 µF
Type designation for master module with fieldbus gateway component:

MXM80A-000-000-00/UFF41B = Master module with PROFIBUS/DeviceNet
Master module with EtherNet/IP / PROFINET Mod-
MXM80A-000-000-00/UFR41B =
bus/TCP
Type designation for master module with controller component:

MXM80A-000-000-
= Master module with PROFIBUS/DeviceNet
00/DHF41B/OMH41B
MXM80A-000-000- Master module with EtherNet/IP / PROFINET Mod-
=
00/DHR41B/OMH41B bus/TCP
Variants: T0 – T25
Type designation for the power supply module:

MXP81A-010-503-00 = 10 kW compact power supply module with integrated C and
BW
MXP80A-010-503-00 = 10 kW power supply module
MXR80A-075-503-00 = 50/75 kW supply and regenerative module, sinusoidal
MXR81A-075-503-00 = 50/75 kW supply and regenerative module, block-shaped
Type designation for the 24 V switched-mode power supply module component

MXS80A-060-503-00 = 24 V switched-mode power supply module
Type designation for the DC link discharge module component:

DC link discharge module with an energy quantity of 5000 Ws
MXZ80A-050-503-00 =
that can be dissipated

Unit design
13
13.4.5 Type designation for MOVIAXIS® optional assemblies 1

X _ _ 11 A 2
Version
3
Version status
Variant:
4
GH, GS= Multi-encoder card
FP = PROFIBUS DP V1 fieldbus interface 5
FA = K-Net fieldbus option
FE = EtherCAT fieldbus interface® 6
SE = EtherCAT®-compatible system bus
IO = Input/output card
IA = Input/output card 7
Optional components for MOVIAXIS®
8
10
11
12
13
14
15
16
17
18
19
20
21
22

Unit design
13 Overview of an axis system
13.5 Overview of an axis system

The units are displayed without cover in the following figure.
[4] [5] [6] [7]
[3]
[2]
[1]
1402746379
[1] X4: DC link connection

[2] X5a, X5b: 24 V voltage supply
[3] Master module
[4] Capacitor/buffer module
[5] Power supply module size 3
[6] Axis modules (size 6 - size 1)
[7] 24 V switched-mode power supply module
NOTICE
Servo inverter can possibly be damaged!
You cannot connect more than 8 MXA axis modules to a MXP or MXR module.
NOTICE
Only operate the MOVIAXIS® servo inverter when installed in a system as illustrated
above. Separate operation of individual modules will damage the servo inverter and is
not permitted.

Unit design
Unit design of MXP power supply module
13
13.6 Unit design of MXP power supply module 1

The following illustrations show the units without cover.
2
13.6.1 MXP power supply module, size 1
3
A B C
4
[2]
5
[3]
[4] 6
[5] [13]
[6] [14] 7
[1]
8
[7]
9
[8]
X9a
10
X9b
11
[9]
12
[10] 13
14
[12]
[11]
15
1402749835
A View from top B View from front C View from bottom 16

[1] System bus [2] Electronics shield clamps [13] X3: Braking resistor
X9a: Input, green plug on cable [3] C, E: DIP switches resistor 17
X9b: Output, red plug on cable - C: CAN-based system bus [14] X1: Line connection
- E: EtherCAT®-compatible system 18
bus
[4] X12: CAN system bus
[5] S1, S2: DIP switches for setting the
19
CAN transmission rate
[6] S3, S4: Axis address switch 20
[7] Standby display (Power)
[8] 2 x 7-segment- display 21
22
[11] Power shield clamp
[12] Housing grounding point

Unit design
13 Unit design of MXP power supply module
13.6.2 MXP81 power supply module with integrated braking resistor, size 1
A B C
[2]
[3]
[4]
[5] [13]
[6] [14]
[1]
[7]
[8]
X9a
X9b
[9]
[10]
[12]
[11]
1481496203
A View from top B View from front C View from bottom

[1] System bus [2] Electronics shield clamps [13] X3: Connection of emergency
X9a: Input, green plug on cable [3] C, E: DIP switches Braking resistor (optional)
X9b: Output, red plug on cable - C: CAN-based system bus [14] X1: Line connection
- E: EtherCAT®-compatible system
bus
[5] S1, S2: DIP switches for setting the
[6] S3, S4: Axis address switch
[8] 2 x 7-segment- display

Unit design
Unit design of MXP power supply module
13
13.6.3 MXP power supply module, size 2 1
2
A B C
3
[2]
[3] 4
[4]
[5] [13] 5
[6]
[14]
6
[1] [7]
[8]
7
8
[9]
X9a
9
X9b [10]
10
11
12
[11]
[12] 13
1402902283

[1] System bus [2] Electronics shield clamps [13] X3: Braking resistor connection
X9a: Input, green plug on cable [3] C, E: DIP switches [14] X1: Line connection 15
X9b: Output, red plug on cable - C: CAN-based system bus
- E: EtherCAT®-compatible system
bus
16
[5] S1, S2: DIP switches for setting the 17
18
19
20
21
22

Unit design
13 Unit design of MXP power supply module
13.6.4 MXP power supply module, size 3
A B
[2]
[3]
[4]
[5]
[6]
[7]
[1]
[8]
[9]
X9a
[10]
X9b
[11]
[12] [14]
[13]
1402752267
A View from top B View from front

[1] System bus [2] Electronics shield clamps
X9a: Input, green plug on cable [3] C, E: DIP switches
X9b: Output, red plug on cable - C: CAN-based system bus
- E: EtherCAT®-compatible system bus
[5] S1, S2: DIP switches
[11] X1: Line connection
[14] X3: Braking resistor connection

Unit design
Unit structure of the MXR supply and regenerative module
13
13.7 Unit structure of the MXR supply and regenerative module 1

The following figure shows the unit without cover.
2
For detailed information about MXR80 and MXR81, refer to the manuals "Supply and
Regenerative Module - MXR80" and "Supply and Regenerative Module - MXR81".
3
13.7.1 MXR supply and regenerative module
4
A B C
5
[2]
[3]
6
[4]
[15]
[5]
[6]
7
[1] [7]
[8] 8
[16]
9
[9]
[10] 10
X9a [11]
11
X9b
[12] [14]
12
[13]
13
1481373195
14
[1] System bus [2] Electronics shield clamps [15] X18: Line voltage measure-
ment
15
X9a: Input, green plug on cable
X9b: Output, red plug on cable [3] X12: CAN system bus [16] X19: "Power on" switch
[4] S1, S2: DIP switches 16
[6] X10: Digital inputs (pins 1 – 6) 17
X11: Digital outputs (pins 7 – 11)
[7] X17: CAN2 bus 18
19
[11] X1: Line connection
20
[14] X3: Braking resistor connection
21
22

Unit design
13 Unit structure of MXA axis modules
13.8 Unit structure of MXA axis modules

The following illustrations show the units without cover.
13.8.1 MXA axis module, size 1
A B C
[2]
[3]
X9a [11]
X9b
[12]
[4]
[1] [5]
[6]
[13]
[7]
[8]
[9]
[10]
1402906251

[1] System bus [2] Electronics shield clamps [11] X2: Motor connection
X9a: Input, green plug on cable [3] X10: Digital inputs [12] X6: Brake control
X9b: Output, red plug on cable [4] X11: Digital outputs [13] X7: 1 safety relay
[5] X12: CAN2 bus (optional variant)
[7] X13: Motor encoder connection (resolver
or Hiperface® + temperature sensor)

Unit design
Unit structure of MXA axis modules
13
13.8.2 MXA axis module, size 2 1
2
A B C
[2] 3
4
[3] [11]
[12] 5
[4]
[1]
[5]
6
[13]
[6] 7
X9a
[7]
8
X9b
[8]
9
[9]
10
11
[10]
12
1403023883
13
14
X9b: Output, red plug on cable [4] X11: Digital outputs [13] X7, X8: 2 safety relay
[5] X12: CAN2 bus (optional variant) 15
[7] X13: Motor encoder connection (resolver 16
17
18
19
20
21
22

Unit design
A B C
[2]
[3] [11]
[12]
[4]
[5]
[1]
[6] [13]
[7]
[8]
X9a
X9b
[9]
[10]
1403027339

X9b: Output, red plug on cable [4] X11: Digital outputs [13] X7, X8: 2 safety relay
[5] X12: CAN2 bus (optional variant)
[7] X13: Motor encoder connection (resolver

Unit design
13
2
A B C
[2]
3
[3] [12] 4
5
[4]
[13]
[5]
6
[1]
[6] 7
[7]
8
X9a
X9b [8]
9
[9]
10
11
[10]
12
13
[11] 14
15
1403029771

[1] System bus [2] Electronics shield clamps [12] X6: Brake control
X9a: Input, green plug on cable [3] X10: Digital inputs [13] X7, X8: 2 safety relay 17
X9b: Output, red plug on cable [4] X11: Digital outputs (optional variant)
[5] X12: CAN2 bus 18
[7] X13: Motor encoder connection (resolver or
Hiperface® + temperature sensor) 19
[9] X4: DC link connection 20
[10] X2: Motor connection
[11] Power shield clamp 21
22

Unit design
A B C
[2]
[12]
[3]
[13]
[4]
[1] [5]
[6]
[7]
X9a [8]
X9b
[9]
[10]
[11]
1403032203

X9a: Input, green plug on cable [3] X10: Digital inputs [13] X7, X8: 2 safety relay
[5] X12: CAN2 bus
[7] X13: Motor encoder connection (resolver or
Hiperface® + temperature sensor)

Unit design
13
2
A B C
[2] 3
[3] [12]
[13]
4
[4] 5
[1] [5]
6
[6]
[7] 7
[8]
X9a 8
X9b
[9]
9
10
[10]
11
[11] 12
13
1403034635

14
X9a: Input, green plug on cable [3] X10: Digital inputs [13] X7, X8: 2 safety relay 15
[5] X12: CAN2 bus 16
[7] X13: Motor encoder connection (resolver or 17
Hiperface® + temperature sensor)
18
[11] Power shield clamp 19
20
21
22

Unit design
13 System bus in EtherCAT®-compatible or CAN-based design
13.9 System bus in EtherCAT®-compatible or CAN-based design

Axis modules can be equipped with different system bus variants:
• CAN-based system bus, SBus,
• EtherCAT®-compatible system bus SBusplus.
The illustrations in chapter "Unit structure of MOVIAXIS® MXA axis modules" show the
axis modules with CAN-based system bus SBus.
[A] [B]
[B]
[1]
I 0
[2]
[3]
[4]
[5]
1403141515
[A] CAN-based system bus, SBus

[B] EtherCAT®-compatible system bus SBusplus
[1] LAM switch
• Switch position 0: All axis modules except the last one
• Switch position 1: Last axis module in the system
F1 switch
[2] RUN LED; color: green/orange - shows the operating status of the bus electronics and communica-
tion
[3] ERR LED; color: red - shows EtherCAT® errors
[4] Link IN LED; color: green - EtherCAT® connection to the previous unit is active
[5] Link OUT LED; color: green - EtherCAT® connection to the following unit is active

Unit design
Unit design of the MXM master module component
13
13.10 Unit design of the MXM master module component 1

The following illustrations show the unit without protective cover.
2
13.10.1 MXM master module, gateway variant
3
The master module shown here has the following designation: MXM80A-000-000-
00/UF.41B.
4
[1]
[1] 6
[2] [2]
[3] 7
[3]
[4] [4] 8
9
[5] [5]
[6] [6]
10
[7] [7]
[8] [8]
[9] [11] [9] 11
12
[10]
13
2695049739
View from front 14

Terminal assignment listed in "UFR41B Fieldbus Gateway" and "UFF41B Field-
[1] – [9]
bus Gateway" manuals
[10] Housing grounding point 15
16
17
18
19
20
21
22

Unit design
13 Unit design of the MXM master module component
13.10.2 MXM master module, variant with MOVI-PLC® advanced

The master module shown here has the following designation: MXM80A-000-000-
00/DHE41B.
[1]
[2]
[3]
[4]
[5]
[6]
[7] [9]
[8]
1403147531
View from front

[1] – [7] For terminal assignment see "MOVI-PLC® advanced DH.41B Controller" manual
NOTICE
Master module can be damaged.
Only operate the master module when integrated in a system as described in chapter
"Axis system overview" (page 498). Remote operation will damage the master module
and is not permitted.

Unit design
Unit design of the MXC capacitor module component
13
13.11 Unit design of the MXC capacitor module component 1

The following illustration shows the unit without protective cover.
2
13.11.1 MXC capacitor module
3
6
[1]
7
[2] 9
[3] 10
11
12
1403149963
13
View from front
14
15
16
17
18
19
20
21
22

Unit design
13 Unit design of the MXB buffer module component
13.12 Unit design of the MXB buffer module component

13.12.1 MXB buffer module
[1]
[2]
[3]
1403149963
View from front

[1] No function

Unit design
Unit design of the MXS 24 V switched-mode power supply module compo-
13
13.13 Unit design of the MXS 24 V switched-mode power supply module component 1
2
13.13.1 MXS 24 V switched-mode power supply module
3
4
A B
6
[1]
7
[2]
[3] 8
[4] 10
[5]
11
12
1403550859
A View from top B View from front 13

[1] X16: 24 V external [2] LED State
[3] LED Load 14
15
16
17
18
19
20
21
22

Unit design
13 Unit design of the MXZ DC link discharge module component
13.14 Unit design of the MXZ DC link discharge module component

13.14.1 MXZ DC link discharge module
[1]
[2]
[3]
[4]
[5]
1672652043
View from front

[1] X14: Control connector
[4] X15: Connection braking resistor for discharge

Unit design
Combinable modules in case of two-row configuration of the axis system
13
13.15 Combinable modules in case of two-row configuration of the axis system 1

The two-row configuration is only permitted with the units listed in this publica-
tion. 2
CAUTION
3
Make sure to install as many MXA axis modules as possible in the lower row, before
you install a maximum of 4 MXA axis modules of size 1 or 2 in the upper row.
4
The maximum number of 8 MXA axis modules per power supply module may not be
exceeded.
5
Combinable units:
The following figure shows an example of a two-row configuration for MOVIAXIS® mod- 6
ules.
7
[1]
[3] [3]
8
10
11
[2] [4] [4] [4] 12
13
14
15
16
[5] [6]
17
The following MOVIAXIS® modules can be combined:
18
• [1] One MXM master module
• [2] One MXP power supply module or one MXR supply and regenerative module
19
• [3] A maximum of 4 MXA axis modules of size 1 or size 2
• [4] MXA axis modules of size 1 – 6 20
• [5] One line choke for MXR
• [6] One line filter for MXR 21
The number and size of the modules are determined in project planning.
22

Unit design
13 Module combinations with a BST brake module
13.16 Module combinations with a BST brake module

modules:
13.16.1 Device arrangement when using a master module – CAN based

If you connect a safety-related BST brake module to an axis system by means of a con-
nection kit, a master module cannot be directly connected to the power supply module
because this is the position where the insulator for the BST connection is mounted.
[b]
[5]
[b]
[a] [b]
[d]
[a]
[2]
[a]
[1]
[c]
[4]
[3]
[1] Insulator with cover of BST connection kit [4] MXM master module
[2] MXP power supply tool or MXR81 supply and regenerative [5] Terminating resistor
module
[3] MXA axis modules
In this case, the master module must be located to the right of the last axis module in
the axis system.

Unit design
Module combinations with a BST brake module
13
The following applies to system cabling: 1

• The cables have color coded plugs on each end. Connect them in the following order:
red (b) - green (a) - red (b) - green (a) - red (b) - etc. 2
• red (b): Output (RJ45)
• green (a): Input (RJ45) 3
• black (c): MXM output (Weidmüller)
• black (d): MXA input (RJ45)
4
• The terminating resistor [5] must be installed on the power supply module [2].
5
6
INFORMATION
The 24 V supply cables included in the delivery cannot be used for this device arrange- 7
ment.
The 24 V can be picked off by the last axis module and can be used for the 24 V supply 8
of the master module, see chapter "Installation example" (page 546) for more informa-
tion.
9
10
11
12
13
14
15
16
17
18
19
20
21
22

Unit design
System bus con-

nection cable to
other SEW units
[2]
[b]
[b]
[a] [b]
[d] [1]
[a]
[a]
[6]
[4]
[3]
[5]
[c]

The lengths of the prefabricated connection cables [1] are 0.75 m and 3 m.
INFORMATION
Establish a common ground potential, e.g. connection of the 24 V ground of the supply
voltages.
INFORMATION
You can also connect further CAN based stations directly to the terminals of the sys-
tem bus on the master module.

Unit design
13
System bus con- • Connect the individual axis systems by cables as described in the operating instruc- 1
nection cable for tions or in the system manual.
several axis sys-
tems
2
3
INFORMATION
The mounting plates on which the axis systems are mounted must have a sufficiently 4
large ground connection, e.g. a ground strap.
5
The lengths of the prefabricated system bus connection cables [1] are 0.75 m and 3 m.
[b]
6
[b]
[b]
7
[b]
[a]
[d]
8
[a]
9
[1]
[a]
[a]
10
[a]
[a] 11
[b]
[a] 12
13
[c]
[b] 14
[b]
15
[2]
16
17
18
19
20
[1] System connection cable
[2] Terminating resistor
21
INFORMATION
22
Important: Install a terminating resistor [2] in the last axis module of the axis system
(included in the scope of delivery of MXP and MXR).

Unit design
13.16.2 Device arrangement when using a master module – EtherCat® compatible
[d] [a]
[a]
[b]
[a]
[b]
[2]
0
1
[b] 0
1
[1] 0
1
[5]
[c]
[4]
[3]
[1] Insulator with cover of BST connection kit [4] MXM master module
[2] MXP power supply tool or MXR81 supply and regenerative [5] System bus cable
module
[3] MXA axis modules
INFORMATION
Please note that the prefabricated system cables [5] no longer match in this case. You
can use a commercially available Ethernet patch cable "CAT. 5e shielded".
The following applies to the system cabling:

• Cables have colored RJ45 plugs on each end. They must be connected in the follow-
ing order: red (b)- green (a) - red (b) - green (a) - red (b) ......
• red (b): Output (RJ45)
• green (a): Input (RJ45)
• c): MXM output (RJ45)
• black (d): MXP input (RJ45)

Unit design
13
INFORMATION 2
The 24 V supply cables included in the delivery cannot be used for this device arrange-
ment. 3
The 24 V can be picked off by the last axis module and can be used for the 24 V supply
of the master module, see chapter "Installation example" (page 546) for more informa- 4
tion.
5
System bus con-
nection cable to
6
other SEW units
7
[d] [a]
[a]
[2]
8
[b]
[a]
9
[b]
10
[b] [1]
0
1
11
0
1
12
1
[3]
[4]
13
[5]
14
[c]
15
16
17
®
[1] System connection cable [4] SEW stations with SEW EtherCAT interface
[2] Output plug yellow [5] System bus cable 18
[3] Input plug green, RJ45
19
INFORMATION
Please note that the prefabricated system cables [5] no longer match in this case. You 20
21
22

Unit design
System bus con-

nection cable for
several axis sys-
tems
[d] [a]
[a]
[b]
[a]
[1]
[b]
[b] 0
1
[a]
[b]
[a]
0
1
0
1
[a]
[b] [a]
[5] [b]
[c] 0
1
[b]
0
1
0
1
[1] System connection cable

[5] System bus cable
INFORMATION
Please note that the prefabricated system cables [5] no longer match in this case. You

Unit design
13
13.16.3 Device arrangement when using a master module and a capacitor module 1
When using a capacitor module, the connection kit for the safety-related BST brake
module is mounted to the capacitor module. 2
The following figure shows an axis system with CAN-based system bus.
3
[3]
6
[2]
8
[1]
10
11
12
[5]
13
[4]
14
[1] Insulator with cover of BST connection kit [4] MXA axis modules
[2] MXC capacitor module [5] MXM master module
[3] MXP power supply module 15
Install the master module as described in the previous chapter.
16
17
18
19
20
21
22

Unit design
13.16.4 Scope of delivery
[1]
+U PE [5]
z
[4]
-U
z
[6]
[3]
[2]
62144147.31
[1] Insulator [4] DC link connections

[2] Protection cap [5] Power busbars (not included in delivery)
[3] Cover [6] Cable lugs (not included in delivery)
The connection kit includes:

• One insulator [1]
• One protection cap [2]
• Three DC link connections [4]
• Various screws.
The power busbars [5] and cable lugs [6] are not included in the delivery.

Unit design
Option combinations on delivery
13
13.17 Option combinations on delivery 1

The axis modules include a rack system for up to 3 options.
2
3
[1]
4
[2]
5
[3]
7
[4]
A 8
9
1403556235
[1 – 3] Slots 1 - 3, assignment see following table 10

[4] Control board – component of the basic unit
A general distinction is made between whether MOVIAXIS® is used with the CAN-based 11
system bus (SBus) or the EtherCAT®-compatible SBusplus.
12
13.17.1 CAN version of the units
The following tables show the possible combinations and the fixed assignment of cards 13
to the slots.
14
Fieldbus combina- The fieldbus options can be plugged in the following combinations:
tions
Combination Slot 1 Slot 2 Slot 3 15
1 Fieldbus option1)
2 16
3 XIA11A
4 XIO11A XGH
17
5 XGS
6 Fieldbus option XIO11A
18
7
8 XGH
9
XIA11A
XGS
19
10 XIA11A
11 Fieldbus option 20
12 XGS XGH
Fieldbus option
13 XGH 21
14 Fieldbus option
XGS
15 XGS Fieldbus option 22
1) XFE24A: EtherCAT®; XFP11A: PROFIBUS; XFA11A: K-Net

Unit design
13 Option combinations on delivery
Combinations with The options can be combined as follows:

XIO
Combination Slot 1 Slot 2 Slot 3
1
2 XIA11A
3 XGH
4 XGS
5 XGH
XIA11A
6 XGS
XIO11A
7 XGS
XGH
8 XGH
9 XGS XGS
10
11 XIO11A XGH
12 XGS

XIA
1
2 XGH
3 XGS
4 XGS
XGH
5 XIA11A XGH
6 XGS XGS
7
8 XIA11A XGH
9 XGS

XGH, XGS only
1
2 XGS XGH
3 XGH

XGS only
1
XGS
2 XGS

Unit design
Option combinations on delivery
13
13.17.2 EtherCAT®-capable units 1

The following table shows the possible combinations and the fixed assignment of cards
to the slots. 2
Combinations with The options can be combined as follows: 3

EtherCAT®-com-
patible system bus
1 4
2
3 XIA11A 5
4 XIO11A XGH
5 XGS
6
6 XIO11A
7
7
8 XSE24A XGH
XIA11A
9 XGS
10 XIA11A
8
11
12 XGS XGH 9
13 XGH
14 10
XGS
15 XGS
11
Unit variant: "Axis The axis module is delivered with built-in option card as shown in the following table.
modules with built- 12
in, EtherCAT®-
compatible SBus- 1 XSE24A - -
plus
system bus" 13
14
15
16
17
18
19
20
21
22

Installation
14 Mechanical installation
14 Installation
NOTICE
You cannot connect more than 8 MXA axis modules to a MXP or MXR module.
14.1 Mechanical installation
CAUTION
Never install defective or damaged modules of the MOVIAXIS® MX multi-axis servo
inverter as they can result in injuries or damage parts of the production system.
• Before installing modules of the MOVIAXIS® MX multi-axis servo inverter, check
them for external damage. Replace any damaged modules.
• Check to make sure that the delivery is complete.
NOTICE
The mounting plate in the control cabinet must be conductive over a large area for the
mounting surface of the inverter system (metallically pure, good conductivity). EMC
compliant installation of the MOVIAXIS® MX multi-axis servo inverter can only be ac-
complished with a mounting plate that is conductive over a large area.
• Mark the 4 bores for the retaining threads on the mounting plate (page ) for each unit
according to the table below. Make the bores with a tolerance according to ISO 2768-
mK.
• The lateral distance between 2 axis systems must be at least 30 mm.
• Units within an axis system are mounted next to another without clearance.
• Cut the matching threads in the mounting platform and fasten the MOVIAXIS® MX
multi-axis servo inverter with M6 screws. Screw head diameter from 10 mm to
12 mm.
The rear dimensions of the module housings are shown in the following chapter.

Installation
Mechanical installation
14
14.1.1 Rear view of housing and bore patterns 1

Rear view dimensions of MOVIAXIS® MX housing
MOVIAXIS MX®
A B C D 2
mm mm mm mm
MXA8.A-...-503-00 size 1 (2 A, 4 A, 8 A) 60 30 353 362.5 3
MXA8.A-...-503-00 size 2 (12 A, 16 A) 90 60 353 362.5
MXA8.A-...-503-00 size 3 (24 A, 32 A) 90 60 453 462.5 4
MXA8.A-...-503-00 size 4 (48 A) 120 90 453 462.5
MXA8.A-...-503-00 size 5 (64 A) 150 120 453 462.5
5
MXA8.A-...-503-00 size 6 (100 A) 210 180 453 462.5
MXP80A-...-503-00 size 1 90 60 353 362.5
6
MXP80A-...-503-00 size 2 90 60 453 462.5
MXP80A-...-503-00 size 3 150 120 453 462.5
MXP81A-...-503-00 120 90 353 362.5
7
MXR80A-...-503-00 / MXR81A-...-503-00 210 180 453 462.5
MXM80A-...-000-00 60 30 353 362.5 8
MXC80A-050-503-00 150 120 453 462.5
MCB80A-050-503-00 150 120 453 462.5 9
MXS80A-...-503-00 60 30 353 362.5
MXZ80A-...-503-00 120 90 288 297.5 10
You find a dimension sheet of the rear view of the housing with variables A, B, C, and D
on the next page. 11
12
13
14
15
16
17
18
19
20
21
22

Installation
14 Mechanical installation
2)
2)
2)
2)
2955493387
1) Position of tapped hole
2)
See table with dimensions (page 104)

Installation
Mechanical installation
14
14.1.2 Minimum clearance and mounting position 1

• Leave at least 100 mm (4 in) clearance above and below the unit for optimum
cooling. Make sure air circulation in the clearance is not impaired by cables or other 2
installation equipment.
• Ensure unobstructed cooling air supply and make sure that the units are not 3
subjected to heated air from nearby components.
• Units within an axis system must be lined up without space in between. 4
• Only install the units vertically. You must not install them horizontally, tilted or upside
down. 5
6
min. 100 mm
(4 in) 7
10
min. 100 mm
(4 in) 11
12
1405581707 13
14
NOTICE
Special bending spaces are required according to EN 61800-5-1 for cables with a 15
cross section of 10 mm2 and larger. This means the clearance must be increased if
required.
16
17
18
19
20
21
22

Installation
14 Mechanical installation – two-row configuration of the axis system
14.2 Mechanical installation – two-row configuration of the axis system
40mm
[3]
[2]
[1]
250mm
[4]
[1]
[1] Motor supply cables

[2] Cables for DC link connection
[3] Signal bus cable
[4] Supply system cable

Installation
Mechanical installation – two-row configuration of the axis system
14
The following requirements must be met for installation in a control cabinet: 1

• Ensure a clearance of at least 40 mm left of the axis blocks for routing the DC link
connection [2] and the motor supply cables [1] through, see illustration on the previ- 2
ous page.
• Provide a clearance of 250 mm between the axis blocks (see illustration on previous 3
page) for using the prefabricated DC link connection cables. The prefabricated DC
link connection cables are included in the scope of delivery and must be used.
4
• Route the motor supply cables [1] on the left side of the axis blocks to the bottom,
see illustration on the previous page.
5
Note: Do not install any units, components, etc. on the left control cabinet wall that
protrude into the control cabinet and restrict the space for routing the motor leads and
DC link connection cables. 6
• Route signal bus cables and power cables separately from each other, see illustra-
tion on previous page. 7
• Use suitable means to attach the DC link connection in order to
prevent mechanical vibrations, e.g. a clamp [1]. Also see the il- [1] 8
lustration in chapter "Two-row configuration of the axis system –
electrical installation" (page 543). Consider any oscillations and
vibrations, especially in mobile control cabinets.
9
• SEW-EURODRIVE recommends installing line filters and the
line choke of the supply and regenerative module at the bottom 10
of the control cabinet due to their great weight, see illustration on previous page.
• Attach both protection caps to the insulators, see illustration in chapter "Two-row 11
configuration of the axis system – electrical installation" (page 543).
12
13
14
15
16
17
18
19
20
21
22

Installation
14 Mechanical installation – BST connection kit
14.3 Mechanical installation – BST connection kit
INFORMATION
Do not connect more than 8 BST units to a power supply module.
The following figure shows the arrangement in the control cabinet.

1 2 ....... 8
PE +U z -U z
Max. cable length, see chapter Electrical Installation
MXP
[1]
[1] BST connection kit
The following requirements must be met for installation in a control cabinet:

• Adhere to the country and system specific regulations when carrying out the cabling.
• Follow the "Safety-Related BST Brake Module" operating instructions. These oper-
ating instructions provided detailed information about BST, such as technical data.
• Always install the connection kit on the left end of the axis system. If you use an MXM
master module, an MXC capacitor module, or an MXB buffer module, observe chap-
ter "Combinable modules when using a BST connection kit" (page 518).

Installation
Mechanical installation – BST connection kit
14
• Keep the connection from the DC link to the BST brake modules as short as possible. 1
Refer to chapter "Electrical installation" (page 546) for information on the maximum
permitted cable length. The ideal installation location of BST brake modules is di-
rectly over or underneath the axis system.
2
• When fitting the selected cable lugs, make sure that the screw-in depth into the
thread of the insulating element is sufficient. 3
• Attach the DC link connection using suitable measures, such as
a clamp [1], to prevent mechanical oscillation. Consider any os- 4
[1]
cillations and vibrations, especially in mobile control cabinets.
• Before startup, always attach the protection cap to the insulating 5
element and the covers to the modules of the axis system.
6
10
11
12
13
14
15
16
17
18
19
20
21
22

Installation
14 Electrical installation
14.4 Electrical installation
DANGER
Dangerous voltage levels may still be present inside the unit and at the terminal strips
up to 10 minutes after the complete axis system has been disconnected from the sup-
ply system.
To prevent electric shocks:
• Disconnect the axis system from the supply system and wait 10 minutes before re-
moving the covers.
• After maintenance work, do not operate the axis system unless you have replaced
the protection covers, touch guard (page 554) because the unit only has degree of
protection IP00 without protection cover.
DANGER
A leakage current > 3.5 mA can occur during operation of the MOVIAXIS® MX multi-
axis servo inverter.
To prevent electric shock:
• If the supply system lead is < 10 mm2, route a second PE conductor with the same
cross section as the supply system lead via separate terminals. Alternatively, you
can use a PE conductor with a copper cross section ≥ 10 mm2 or aluminum ≥ 16
mm2.
• With an incoming supply line ≥ 10 mm2, it is sufficient to install a PE conductor with
a copper cross section ≥ 10 mm2 or aluminum ≥ 16 mm2.
• If an earth leakage circuit breaker can be used for protection against direct and in-
direct contact, it must be universal current sensitive (RCD type B).
INFORMATION
Safe disconnection.
The unit meets all requirements for safe disconnection of power and electronics con-
nections in accordance with EN 61800-5-1. The connected signal circuits have to meet
the requirements according to SELV (Safe Extremly Low Voltage) or PELV (Protective
Extra Low Voltage) to ensure safe disconnection. The installation must meet the re-
quirements for reliable isolation.

Installation
Electrical installation
14
14.4.1 Temperature sensor in the motor 1
WARNING 2
Dangerous contact voltages at the unit terminals when connecting the wrong temper-
ature sensors. 3
• Connect only temperature sensors with reliable isolation from the motor winding to 4
the temperature evaluation. Otherwise, the requirements for reliable isolation are
not met. Dangerous contact voltages may occur at the unit terminals via the signal 5
electronics in case of an error.
6
14.4.2 Line and brake contactors
• Use contactors in utilization category AC-3 or higher (EN 60947-4-1) as line and 7
brake contactors.
• Line cable: Cross section according to nominal input current Iline at nominal load. 8
• Motor supply cable: Cross section according to nominal output current IN.
• Electronics cables: 9
– 1 core per terminal 0.20 – 1.5 mm2
– 2 cores per terminal 0.25 – 1.5 mm2 10
• Do not use the K11 relay for jog mode, but only for switching the servo inverter on/off.
Use the FCB "Jog" for jog mode. 11
NOTICE 12
• Observe a minimum switch-off time of 10 s for the relay K11.
• Do not turn the power on or off more than once per minute!
• The line contactor must always be located before the line filter. 13
14
14.4.3 Line fuse types
Line protection types in operation classes gL, gG:
15
• Nominal fusing voltage ≥ nominal line voltage
16
Circuit breakers with characteristics B, C and D:
• Nominal circuit breaker voltage ≥ nominal line voltage 17
• Nominal circuit breaker currents must be 10% above the nominal line current of the
power supply module. 18
19
20
21
22

Installation
14.4.4 Unit output
NOTICE
An axis module can suffer irreparable damage if you connect capacitive loads to it.
• Only connect ohmic/inductive loads (motors).
• Never connect capacitive loads.
1405927947
14.4.5 Digital inputs, digital outputs

• The digital inputs are electrically isolated by opto-couplers.
NOTICE
The digital outputs are short-circuit-proof but not interference-voltage-proof. Ex-
ternally applied voltages can damage the digital outputs.
• The length of the cables connected to the inputs and outputs must not exceed 10 m.
• If you route the cables outside the control cabinet, you have to shield them irrespec-
tive of the length.
14.4.6 Permitted voltage supply systems

• MOVIAXIS® is intended for operation on voltage supply systems with a directly
grounded star point (TN and TT power systems). Operation on voltage supply sys-
tems with a non-grounded star point (for example IT power systems) is permitted. In
such a case, SEW-EURODRIVE recommends using earth-leakage monitors em-
ploying pulse-code measurement. Use of such devices prevents the earth-leakage
monitor mis-tripping due to the earth capacitance of the servo inverter.
• No EMC limits are specified for interference emission in voltage supply systems with-
out a grounded star point (IT systems). The efficiency of line filters is severely limited.

Installation
Electrical installation
14
14.4.7 Connecting the units 1

• Connect the supply terminals of all units in theMOVIAXIS® MX axis system accord-
ing to the respective wiring diagrams in chapter "Wiring diagrams" (page 558). 2
• Check to see that the assignment of multi-axis servo drive and motor is correct ac-
cording to project planning specification. 3
• Check to see that all grounding cables have been connected.
• Take suitable measures to prevent the motor starting up inadvertently, for example 4
by removing the electronics terminal block X10 on the axis module. Integrate addi-
tional safety features for certain applications to prevent possible injuries and dam- 5
ages to machines.
• Only use closed cable lugs for connection to the screw bolt in order to prevent litz
6
strands from escaping.
7
14.4.8 Additional terminal when using TF/TH motor protection for asynchronous motors
When operating asynchronous motors on MOVIAXIS®, the TF/TH motor protection sig- 8
nals are not routed via the encoder cable, but through a separate cable attached to the
connector.
9
In this case, an assembly kit with connection plug is available that is mounted to the axis
module instead of the cable clamp on the shield plate.
10
Installation
11
[2] 12
[1]
13
14
15
16
17
18
19
• Remove the cable clamp on the shield plate [1]
• Attach the TF/TH assembly set with connection plug [2] 20
• Attach the TF/TH connection cable as shown and connect it [3]
21
22

Installation
14.4.9 Connecting the DC 24 V brake supply to the master module

The customer has to make the following connections at the X5a port of the master mod-
ule [3]:
• Terminals 1 [1] and 2 [2] for DC 24 V electronics supply
The customer then has to make the following connections at the X5a port of the next
module on the right from the master module:
• Terminals 1 [7] and 2 [8] for DC 24 V electronics supply
• Terminals 3 [9] and 4 [10] for the DC 24 V brake supply
The accessories package 18210864 of the MOVIAXIS® master module contains an ad-
ditional connector [5] "complete, 4-pole BK24V (part number 18202527)" for this pur-
pose. This connector is plugged into plug-in position X5A [6] of the next module [4].
We now have a separate wiring of the master module with 2 wires in addition, and a con-
nection of the downstream modules with 4 more wires. This means a total of 6 wires
must be connected externally for the DC 24 V supply. It is not permitted to jumper the
wires.
The wiring instructions apply also to dual-bus electronics and brake supply.
The following figure shows the correct wiring method:
[3] [4] [3] [4]
[6]
[5]
[1]
[7]
[2]
[8]
[9]
[10]
6093461899

Installation
Electrical installation – two-row configuration of the axis system
14
14.5 Electrical installation – two-row configuration of the axis system 1

• The routing of cables described in chapter "Two-row configuration of the axis system
– mechanical installation" (page 534) must be observed: 2
• Route the motor cables of the upper row on the left side
• Route the signal cables separately from the power cables
3
4
DANGER
Dangerous voltages (DC 970 V) at cables and insulators [1]. 5
6
moving the covers. 7
• Use suitable measuring instruments to make sure that no voltage is present at ca-
bles and insulators [1].
• After maintenance work, do not operate the axis system unless you have replaced
8
the protection covers, touch guard (page 554) and the two protection caps for two-
row configuration [2] because the unit only has degree of protection IP00 without 9
protection cover.
10
11
12
[1]
13
[2]
14
15
16
17
[1]
18
[2]
19
20
[1] Insulators 21
[2] Protection caps
22

Installation
14 Electrical installation – two-row configuration of the axis system
14.5.1 Wiring diagram

The following wiring diagram shows the connection of the DC 24 V brake supply to the
master module.
X4 X4
PE PE X5
a X5a:1
+
+
1 1
- -
2 2 b X5a:2
Axis module
Axis module X5 Master
X5b:1 a module
X5b:2 b
24 V

Installation
Electrical installation – BST connection kit
14
14.6 Electrical installation – BST connection kit 1
2
DANGER
Dangerous voltages of up to DC 970 V can occur. 3
To prevent electric shocks: 4
moving the covers. 5
• Use suitable measuring instruments to make sure that no voltage is present at ca-
bles and at the connection points [4] of the insulators [1].
• After completing your work, do not take the axis system into operation unless you 6
have replaced the protection covers, the touch guard and the protection cap [2] of
the BST connection kit because the unit only has degree of protection IP00 without
protection cover.
7
10
11
[1]
12
[3] 13
[2]
14
15
16
[4]
[1] Insulator [3] Extended fan guard
17
[2] Protection cap [4] Connection points
18
• Follow the "Safety-Related BST Brake Module" operating instructions.
• Adhere to the routing of cables as described in chapter "Mechanical installation BST 19
connection" (page 536):
• Comply with country-specific installation regulations. 20
• Use suitable cable lugs for M8 screws, for example for a cross section of 2.5 mm2.
21
• Connect a maximum number of 8 BST brake modules to a DC link output.
• Use the connection kit only for connecting BST brake modules.
22

Installation
14 Electrical installation – BST connection kit
• Use the connection points [4] only for connecting BST brake modules.
• Protect the outgoing DC link at the cross section reduction with 2 fuses (in VDCL+ and
VDCL-), see wiring diagram (page 546).
Recommendation: At least DC 750 V, utilization class gG
The rated fuse current depends on the number of connected BST brake modules.
Number of BST brake modules 1–2 3–4 5–8
Rated current in A 4 6 10
• Limit the total cable length of the connection to a maximum of 5 m (to be measured
between tapping of the DC link and connection to the BST brake module), see also
Wiring diagram (page 546).
14.6.1 UL-compliant installation

The BST connection kit is UL certified when used together with the MOVIAXIS® multi-
axis servo inverter.
Adhere to the country-specific standards and regulations when carrying out the cabling
in the control cabinet.
14.6.2 Installation example

• The example is based on EN 61439-1 (VDE 0660-600-1) and IEC 61439-1.
• The maximum cable length between DC link output and BST brake modules is 5 m.
• Keep the cable length between DC link output and fuses as short as possible.
• Route the segment between the DC link output and the fuses in such a way that the
possibility of a ground fault or a short circuit is reduced to a minimum, see also sec-
tion 8.6.4 of DIN EN 61439-1 (VDE 0660-600-1).
• For the wiring between the DC link output and the BST brake modules, use a cable
cross-section of 2.5 mm2.
• To connect the DC link with the BST brake modules, use intermediate terminals such
as commercially available mounting rail clamps. See the following example.

Installation
Electrical installation – BST connection kit
14
Wiring diagram 1
L1
L2
L3
2
PE
K11 3
Cable length < 600 mm

L1 L2 L3 4
Line filter
L1´ L2´ L3´
5
X1 6
1 2 3 4
PE PE L1 L2 L3 7
X4 X4 X4 X4
PE PE PE PE X5 8
+
a X5a:1
+
+
1 1 1 1
- - - -
2 2 2 2 b X5a:2 9
Axis module
Supply module Axis module Axis module X5 Master
X5b:1 a module
PE +R -R PE U V W
10
X5b:2 b
1 2 1 2 1 2 3 24 V
X3 X6 X2
max. 5 m
11
12
= PE (housing grounding point)
13
= Power shield clamp
14
15
16
17
8670931723 18
If you connect only one BST module, the intermediate terminal is not necessary. 19
INFORMATION 20
The 24 V supply cables included in the delivery cannot be used for this device arrange-
ment. 21
The 24 V can be tapped from the last axis module and can be used for the 24 V supply
of the master module, see wiring diagram. 22

Installation
14 System bus connection
14.7 System bus connection

14.7.1 System bus cable for CAN-based system bus SBus with optional master module
The following describes how the system bus cables of the CAN system bus must be con-
nected in the axis system.
• Insert the CAN system bus plugs [1] as described in the following (X9a, X9b):
• The cables have color-coded plugs on each end. Connect them in the following
order: red (b) - green (a) - red (b) - green (a) - red (b) - etc.
• red (b): Output (RJ45), X9b
• green (a): Input (RJ45), X9a
• black (c): MXM output (Weidmüller) (MOVI-PLC® advanced, UFX41 gateway)
• black (d): MXP input (RJ45), X9a
[1] [a]
[d] [a]
[b] [a]
[2]
[c]
[b]
[b] [3]
INFORMATION
Important: Install a terminating resistor [3] in the last axis module of the axis system
(included in the scope of delivery of the MXP and MXR supply modules).
Shield clamps • Install the cables properly and screw on electronics shield clamps [2].

Installation
System bus connection
14
14.7.2 System bus connection cable for several axis systems – CAN-based 1
• The individual axis systems are wired as described in chapter "Connection cable for
CAN-based system bus with optional master module" (page 548). 2
• The CAN connection cable [1] is routed from the red output (X9b) of the last axis
module in one axis system to the green input (X9a) of the first axis module of the sub- 3
sequent system.
4
INFORMATION
The mounting plates on which the axis systems are mounted must have a sufficiently 5
6
7
[1] 8
[2] 9
[3]
10
0
1
11
0
1
[4]
0
1
12
13
14
0
1
0
1
0
1
15
16
17
18
19
[1] Output plug, yellow [3] Input plug, green
[2] System bus connection cable [4] Terminating resistor
20
21
INFORMATION
Important: Install a terminating resistor [2] in the last axis module of the axis system 22
(included in the scope of delivery of the MXP and MXR supply modules).

Installation
14.7.3 System bus connection cable to other SEW units – CAN-based
[1]
[2] [6]
[4]
[3]
[5]

INFORMATION
Establish a common ground potential, e.g. connection of the 24 V ground of the supply
voltages.
The lengths of the prefabricated connection cables [1] are 0.75 m and 3 m.

Installation
14
14.7.4 System bus cable for EtherCAT®-compatible system bus SBusplus with master module 1
The following describes how the system bus cables of the EtherCAT®-compatible sys-
tem bus SBusplus must be connected in the axis system. 2
• Insert the system bus plugs [1] as described in the following (X9a, X9b):
• Cables have colored RJ45 plug on each end. They must be connected in the fol- 3
lowing order: red (b)- green (a) - red (b) - green (a) - red (b) - etc.
• red (b): Output (RJ45), X9b 4
• green (a): Input (RJ45), X9a
• yellow (c): MXM output (RJ45) (MOVI-PLC® advanced, UFX41 gateway)
5
• black (d): MXP input (RJ45), X9a
6
[a] 7
[1]
[d]
[a] 8
[a]
[b]
9
10
11
0
[c]
1
12
1
0
1
13
[b]
14
[b]
[2]
15
[1] System bus cable [2] LAM switch
• Switch position 1: Last axis module in the system 16
17
INFORMATION
The DIP switch LAM [2] must be set to "1" at the last axis module in a system. At all
other axis modules, it must be set to "0".
18
19
20
21
22

Installation
14.7.5 System bus connection cable for several axis systems – EtherCAT®-compatible
• The individual axis systems are wired as described in chapter "Connection cable for
EtherCAT-compatible system bus with master module" (page 551).
• The connection cable [1] is routed from the yellow output (b) of the last axis module
in one axis system to the black input (a) of the first axis module of the subsequent
system.
INFORMATION
The mounting plates on which the axis systems are mounted must have a sufficiently
[1]
0
1
0
1
0
1
0
1
0
1
0
1
[2]
[1] System bus connection cable [2] LAM switch

NOTICE
The DIP switch LAM [2] must be set to "1" at the last axis module in each system. At
all other axis modules, it must be set to "0".

Installation
14
14.7.6 System bus connection cable to other SEW units – EtherCAT®-compatible 1
4
[1]
5
0
1
6
1
0
1
[2] [3]
[4]
7
[5]
10
[1] System bus connection cable [4] SEW stations with SEW EtherCAT® interface
[2] Output plug, yellow [5] LAM switch
• Switch position 0: All axis modules except the last one 11
[3] Input plug green, RJ45
12
NOTICE
Important: The DIP switch LAM [5] must be set to "1" at the last axis module in a sys- 13
tem. At all other axis modules, it must be set to "0".
14
The lengths of the prefabricated connection cables [1] are 0.75 m and 3 m. 15
NOTICE 16
Use only prefabricated cables from SEW-EURODRIVE (special assignment) for this
connection. 17
18
19
20
21
22

Installation
14 Covers and touch guards
14.8 Covers and touch guards

14.8.1 Protection cover
The following units come equipped with a protection cover:
• Master module (not shown),
• Capacitor module (not shown),
• Buffer module (not shown),
• Damping module (not shown),
• Power supply module; all sizes,
• Supply and regenerative module (not shown),
• Axis module; all sizes.
• 24 V switched-mode power supply module (not shown),
• DC link discharge module; all sizes, (not shown).
[1] [2]
1405925515
[1] Extended fan guard

[2] Touch guard
The tightening torque for the cover bolts is 0.8 Nm.

When driving in the self-tapping screw, make sure that it screws into the existing thread.

Installation
Braking resistors
14
14.8.2 Touch guard 1

WARNING
2
Touch guard covers not installed.
3
• The touch guard covers have to be installed on the left-hand and right-hand side of
the axis system so that there is no risk of touching any electrically conductive parts.
4
Two touch guard covers are included with each power supply module.
5
14.9 Braking resistors
6
14.9.1 Permitted mounting the braking resistors
7
WARNING
Non-permissible installation might lead to an accumulation of heat in the braking re-
sistor due to reduced convection. A tripping temperature contact or an overheated
8
braking resistor can lead to a system standstill.
Adhere to the following minimum distances: 9
• About 200 mm to adjacent components and walls
• About 300 mm to above components/ceilings 10
Grid resistors You must fulfill the following requirements for mounting the grid resistors: 11
12
• Permitted: Mounting on horizontal surfaces.
13
14
15
• Permitted: Mounting on vertical surfaces with terminals pointing downwards when
there is a perforated sheet at the top. 16
17
18
• Not permitted: Mounting on vertical surfaces with terminals pointing upwards, to the
right or left. (The connection terminals can be placed within the steel grid, where ap-
propriate. Ensure the proper position of connection terminals also in this case). 19
20
• Not permitted: Mounting on vertical surfaces with the terminals facing downwards.
(The connection terminals can be placed within the steel grid, where appropriate. En- 21
sure the proper position of connection terminals also in this case).
22

Installation
14 Braking resistors
Wire resistors You must fulfill the following requirements for mounting the wire resistors:
• Permitted: Mounting on horizontal surfaces.
• Permitted: Mounting on vertical surfaces when there is a perforated sheet at the top
or connection terminals at the bottom
• Not permitted: Mounting on vertical surfaces when the connection terminals are at
the top.
• Not permitted: Mounting on horizontal surfaces when the connection terminals are
at the bottom.
14.9.2 Connecting braking resistors

• SEW-EURODRIVE recommends to connect the braking resistor as shown in the wir-
ing diagrams in chapter "Braking resistor connection" (page 565). Install switch F16
close to the unit network. If an unshielded cable is used for connecting switch F16
with the power supply module, keep the length as short as possible. Preferably use
a shielded power cable or twisted individual lines as connection cable to the braking
resistor. The cross section must be selected depending on the nominal current of the
braking resistor.
• When using an external overload relay (page 565), set the trip current according
to the technical data of the braking resistor (type BW... and BW...-01).
• Observe the notes in the "UL-compliant installation" (page 617) chapter.
14.9.3 Operating braking resistors

• The connection leads to the braking resistors carry a high DC voltage of about 900
V during nominal operation.

Installation
Braking resistors
14
1
WARNING
The surfaces of the braking resistors will reach temperatures of up to 250 °C when the
braking resistors are loaded with PN. 2
3
• Choose a suitable installation location. Braking resistors are usually mounted on
• Do not touch any braking resistor. 4
10
11
12
13
14
15
16
17
18
19
20
21
22

Installation
14 Wiring diagrams
14.10 Wiring diagrams

14.10.1 General information on the wiring diagrams
• For technical data of the connections of power electronics and control electronics,
refer to chapter "Technical data".
• All units within the axis system have to be connected to each other via the DC link
bus connection (PE, + Uz, - Uz), the 24 V voltage supply (X5a, X5b) and the system
bus (X9a, X9b).
• The line contactor "K11" must be installed between the power grid and the line filter.
INFORMATION
• Connect the brake rectifier (option) using a separate supply system lead.
• Supply via the motor voltage is not permitted.
INFORMATION
• If the brake connection and the motor connection are combined in one power cable,
the brake line must be shielded separately. The shielding of the power cable and
the brake cable must be connected with PE on the motor and servo inverter.
• Use a shielded cable as brake cable with separate installation of the brake cable.
• Note the different project planning criteria to determine the length of brake cable
and motor cable.
Brake rectifier in Install the connection cables between the brake rectifier and the brake separately from
the control cabinet other power cables when installing the brake rectifier in the control cabinet. Joint instal-
lation is permitted with shielded power cables only.

Installation
Wiring diagrams
14
14.10.2 Connection of power supply module, axis module, and capacitor or buffer module 1
Wiring of power terminals MXP80.. Size 1 and 2
2
L1
L2
L3
3
PE
K11
4

L1 L2 L3
Line filter
L1´ L2´ L3´
5
X1
1 2 3 4
6
PE PE L1 L2 L3
1) 1) 1) 1) 1) 1)
PE
X4
PE
X4
PE
X4
PE
X4
PE
X4
PE
X4
7
+
+
+
1 1 1 1 1 1
- - - - - -
2 2 2 2 2 2
Capacitor
Supply module Axis module Axis module Axis module
24 V 8
module switched-
mode power
PE +R -R PE U V W supply unit
X3
1 2
X6
1 2 1 2 3
X2
9
Brake 1)
For connection of BW see X4 = DC link bus bar
control **
chapter "Connection of
braking resistor"
10
Motor
11
= PE (grounding point of housing)

12
1680410891 13
14
** Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V. We
recommend using prefabricated cables from SEW-EURODRIVE that offer complete shielding with
shielding supports as well as separate shielding for the brake line.
15
16
17
18
19
20
21
22

Installation
14 Wiring diagrams
Wiring of power terminals MXP80.. Size 3
L1
L2
L3
PE
K11

L1 L2 L3
Line filter
L1´ L2´ L3´
X1
1 2 3
PE PE L1 L2 L3
1) 1) 1) 1) 1) 1)
X4 X4 X4 X4 X4 X4
PE PE PE PE PE PE
+
+
+
1 1 1 1 1 1
- - - - - -
2 2 2 2 2 2
Capacitor
module Supply module Axis module Axis module Axis module 24 V
switched-
PE +R -R PE U V W mode
power supply
1 2 1 2 1 2 3
X3 X6 X2
Brake
BW connection **
1)
X4 = DC link connection
control
see chapter "Braking
resistor connection"
Motor

1406099211

Installation
Wiring diagrams
14
Wiring of power terminals MXP80.. BG3 for example with line filter and line choke 1
2
L1
L2
L3
PE
3
K11
U1 V1 W1
4
Line choke
U2 V2 W2
5

L1 L2 L3
Line filter
L1´ L2´ L3´
6
X1
PE PE L1
1 2
L2 L3
3
7
1) 1) 1) 1) 1) 1)
X4 X4 X4 X4 X4 X4
PE PE PE PE PE PE
8
+
+
+
1 1 1 1 1 1
- - - - - -
2 2 2 2 2 2
Capacitor
module Supply module Axis module Axis module Axis module 24 V
switched-
9
mode
PE +R -R PE U V W
power supply
1 2 1 2 1 2 3
X3 X6 X2
10
Brake
For braking resistor connection, **
1)
X4 = DC link busbar
control
see “Connecting braking
resistor“ 11
Motor
12
= PE (grounding point of housing) 13

3945067275 14
** Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V. We 15
16
17
18
19
20
21
22

Installation
14 Wiring diagrams
Wiring the MXP81.. power connections with integrated braking resistor
L1
L2
L3
PE
K11

L1 L2 L3
Line filter
L1´ L2´ L3´
X1
1 2 3 4
PE PE L1 L2 L3
Supply module
X4 X4 X4 X4
PE PE PE PE
+
+
1 1 1 1
- - - -
2 2 2 2
Ri Axis module Axis module Axis module
+R -R Ri PE PE U V W
1 2 3 1 2 1 2 3
X3 X6 X2
Brake
control**
Motor
= PE (Housing grounding point)

1500842507

Installation
Wiring diagrams
14
Wiring the MXP81.. power connections with external braking resistor 1
2
L1
L2
L3
PE 3
K11
4

L1 L2 L3 5
Line filter
L1´ L2´ L3´
X1 7
1 2 3 4
PE PE L1 L2 L3
Supply module
8
X4 X4 X4 X4
PE PE PE PE
9
+
+
1 1 1 1
- - - -
2 2 2 2
10
Ri Axis module Axis module Axis module
+R -R Ri PE PE U V W 11
1 2 3 1 2 1 2 3
X3 X6 X2
Brake 12
Connection of BW see control**
chaoter “Connection of
braking resistor” 13
Motor 14
15
= PE (Housing grounding point)
16
1502085899 17
** Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V. We 18
19
20
21
22

Installation
14 Wiring diagrams
14.10.3 Connecting power supply module, axis modules and DC link discharge module
Wiring of power
connections
L1
L2
L3
PE
K11

L1 L2 L3
line filter
L1´ L2´ L3´
X1
1 2 3
PE PE L1 L2 L3
1) 1) 1) 1) 1) 1)
X4 X4 X4 X4 X4 X4
PE PE PE PE PE PE
+
+
+
1 1 1 1 1 1
- - - - - -
2 2 2 2 2 2
DC link
discharge Supply module Axis module Axis module Axis module 24 V switched
module mode
PE PE +R -R PE U V W power supply
1 2 1 2 1 2 1 2 3
X15 X3 X6 X2
Brake 1)
** X4 = DC link busbar
control
Motor

4046957579

Installation
Wiring diagrams
14
14.10.4 Connecting braking resistors 1
Power supply module Power supply module

2
X3 X3
PE +R –R PE +R –R
1 2 1 2
3
4
BW...-...-P BW...-...-T
97 95
T2
5
RB1
acts
F16 acts
on K11
F16
96
on K11 6
98
T1
4 6
RB2 7
DC link dis-
8
Power supply module Power supply module Power supply module
charge module
X3 X3 X15 X3
dis-
PE +R
1
–R
2
PE +R
1
–R
2
PE charge n.c. PE +R –R
9
1 2 1 2
10
acts acts acts
F16 F16 F16
on K11 on K11 on K11
11
1 12
1Ω
2 13
1 1
BW...-01
BW...-01 2 2 14
BW...
3
3 3 15
9007201328845195
BW...-...-P BW...-...-T BW... , BW...-01 16

When the signal contact F16 trips, K11 When the internal temperature switch trips, When the external bimetal relay (F16) trips,
must open. When F16 (trip contact at over- K11 must open. When F16 (trip contact at K11 must open. When F16 (trip contact at
load relay or temperature switch) triggers, overload relay or temperature switch) trig- overload relay or temperature switch) trig- 17
K11 must open and "Output stage enable" gers, K11 must open and "Output stage gers, K11 must open and "Output stage
must receive a "0" signal. F16 is a signal enable" must receive a "0" signal. F16 is a enable" must receive a "0" signal. F16 is a
contact, which means the resistor circuit
must not be interrupted.
signal contact, which means the resistor
circuit must not be interrupted.
signal contact, which means the resistor
circuit must not be interrupted.
18
19
Braking resistor type Overload protection
BW.. Through external bimetal relay F16 20
BW...-01 Through external bimetal relay F16
• through internal temperature switch, or
BW..-..-T
• Through external bimetal relay F16 21
BW..-..-P through internal bimetal relay F16
22

Installation
14 Wiring diagrams
14.10.5 Brake control

BMK brake control with terminal box
PE U V W
1 2 1 2 3
X6 X2
Brake **
control ***
5a 3a 4a
13
14
15
K11
1
2
3
4
Motor
TS BS
BMK
Brake
U AC
2788968971
BMK brake control with SB1 plug connector
PE U V W
1 2 1 2 3
X6 X2
Brake **
control ***
D B C
13
14
15
K11
1
2
3
4
Motor
TS BS
BMK
Brake
UAC
2788973579
BMK brake control with SBB plug connector
PE U V W
1 2 1 2 3
X6 X2
Brake **
control ***
- 1 +
13
14
15
K11
1
2
3
4
Motor
TS BS
BMK
Brake
U AC
2788971403
*** Install the connection cables between the brake rectifier and the brake separately from other power
cables when installing the brake rectifier in the control cabinet. Joint installation is only permitted with
shielded power cables.

Installation
Wiring diagrams
14
1
BME brake control with terminal box
2
PE U V W
X6
1 2
X2
1 2 3
3
Brake **
***
control 4
U AC
5a 3a 4a PE
5
F14/15
Motor
TS BS
K11 Brake
6
DB00
7
K12
DGND
13
8
14
15
1
2
3
4
BME 9
2788977419
Directly controlled motor brake 10
PE U V W 11
1 2 1 2 3
X6 X2
Brake ** 12
control
13
14
15
Motor
16
Brake 17
2789159179
18
recommend using prefabricated cables from SEW-EURODRIVE that offer complete shielding with 19
See also chapter "Direct brake control" (page 80).
*** Install the connection cables between the brake rectifier and the brake separately from other power 20
21
22

Installation
14 Wiring diagrams
BP brake control BMV with terminal box
PE U V W
1 2 1 2 3
X6 X2
Brake **
control ***
5a 4a
13
14
15
K11
1
2
3
4
Motor
BMV
Brake
DC 24 V
2788940427
BP brake control BMV with SB1 plug connector
PE U V W
1 2 1 2 3
X6 X2
Brake **
control ***
D C
13
14
15
K11
1
2
3
4
Motor
BMV
Brake
DC 24 V
9007202043683851
BP brake control BMV with SBB plug connector
PE U V W
1 2 1 2 3
X6 X2
Brake **
control ***
- +
13
14
15
K11
1
2
3
4
Motor
BMV
Brake
DC 24 V
2788945291

Installation
Wiring diagrams
14
1
BY brake control BMV with terminal box
2
PE U V W
X6
1 2
X2
1 2 3 3
Brake **
control *** 4
5a 3a 4a
5
13
14
15
K11
1
2
3
4
Motor
TS BS
BMV
Brake 6
DC 24 V
7
2788948875
BY brake control BMV with SB1 plug connector
8
PE U V W 9
1 2 1 2 3
X6 X2
Brake ** 10
control ***
D B C
11
13
14
15
K11
1
2
3
4
Motor
BMV
TS BS 12
Brake
DC 24 V
13
2788966539
BY brake control BMV with SBB plug connector
14
PE U V W 15
1 2 1 2 3
X6 X2
Brake ** 16
control ***
- 1 + 17
13
14
15
K11
1
2
3
4
TS BS
Motor 18
BMV
Brake
DC 24 V 19
2788951307
20
recommend using prefabricated cables from SEW-EURODRIVE that offer complete shielding with 21
cables when installing the brake rectifier in the control cabinet. Joint installation is only permitted with 22

Installation
14 Wiring diagrams
BST brake control

For information about BST brake control, refer to the "BST Safety-Related Brake Mod-
ule" operating instructions.
14.10.6 Connection of power supply module and supply and regenerative module
Wiring the control
electronics
C E
X9a X9b DIP switch
CAN/EtherCAT
X12
1
6 Not assigned
DGND 2
CAN_H 7 CAN_L
3
CAN_H
8 DGND
4
9 CAN_L
5
Internal
bus terminating
resistor
2 x 7-segment displays
For operating states

see the
Supply modules operating states
size 1-3 for the supply module
X5a X5b
1 1 24VE
2 2 DGND
3 3 24VB
4 4 BGND
DGND PE
24 V for 24 V supply
brake supply - + - + for control electronics*
1406123531
* Connection via supplied prefabricated cables
X9a System bus input

X9b System bus output

Installation
Wiring diagrams
14
14.10.7 Connection of axis modules 1

Wiring the control
electronics 2
X9a X9b
3
Input Output Electronics
signal bus signal bus shield clamps
PE
X12
1
4
6 not assigned
DGND 2
CAN_H 7 CAN_L
3
CAN_H
8 DGND Higher-level
4
not assigned 9 CAN_L controller
5 not assigned
PLC
5
X10
Fixed assignment with
Output stage enable DI∅∅ 1
Axis module
BG 1-6
User programmable
User programmable
DI∅1 2
DI∅2 3
6
User programmable DI∅3 4 Binary outputs
User programmable DI∅4 5
User programmable
User programmable
DI∅6 7
DI∅7 8
7
Reference potential binary signals DI∅∅ .. DI∅8 DCOM 10
DGND 11
8
General reference potential
of the control electronics
2 x 7-segment displays
Operating states X11

see DO∅∅ 1
operating displays User programmable
9
for the axis module User programmable DO∅1 2
User programmable DO∅2 3 Binary inputs
User programmable DO∅3 4
Reference potential binary signals DO∅∅ .. DO∅3 DGND 5
15
14
8
7
X13
10
6
13
5
Motor encoder connection
12 (Hiperface or
11
4
Resolver) and
temperature sensor
11
3
10
9
2
optional
1
12
Coil and NC contact
X5a X5b
Coil and NC contact
Safety relay I Safety relay II 1 1 24VE
2 2 DGND
3 3 24VB
4 4 BGND
13
DGND PE
RGND
RGND
+ 24 V
+ 24 V
X7 X8
NC
NC
C
1 2 3 4 1 2 3 4 24 V for
brake supply - + -
24 V supply for PLC
+ and control electronics*
14
1406125963
* Connection via supplied prefabricated cables 15
16
17
18
19
20
21
22

Installation
14 Wiring diagrams
Connection dia-
gram of digital
inputs +24VE DGND
DI0 1 .. 8
Logic
DCOM
1406128395
Connection dia-
gram of digital out-
puts +24VE DGND
Logic
D00 1 .. 4
DGND
1406130827

Installation
Wiring diagrams
14
14.10.8 Connection of master module component 1

Wiring the control
electronics 2
X5a X5b
1 1 24VE
8
2 2 DGND
3 3 24VB
4 4 BGND 9
10
DGND PE
11
PE
24 V supply
12
- + for control electronics*
PE (housing grounding point) 13

1406133259
* Connection via supplied prefabricated cables 14

INFORMATION
15
The housing grounding point of the master module must be connected to PE, e.g. at
the control cabinet.
16
17
18
19
20
21
22

Installation
14 Wiring diagrams
14.10.9 Connection of capacitor module component

Wiring the control
electronics
X5a X5b
1 1 24VE
2 2 DGND
3 3 24VB
4 4 BGND
DGND PE
brake control* - + - + for control electronics*
1406212491

Installation
Wiring diagrams
14
14.10.10 Connection of buffer module component 1

Wiring the control
electronics 2
X5a X5b
1 1 24VE
8
2 2 DGND
3 3 24VB
4 4 BGND 9
10
DGND PE
11
12
brake control* - + - + for control electronics*
1406212491
13
14
15
16
17
18
19
20
21
22

Installation
14 Wiring diagrams
14.10.11 Connection of 24 V switched-mode power supply module

Wiring the control
electronics
24 V external
+ -
X16
X5a X5b
1 1 24VE
2 2 DGND
3 3 24VB
4 4 BGND
24 V supply for 24 V for 24 V supply

control electronics (2) - + brake supply - + - + for control electronics* (channel 1)
9007200660955915
For detailed information about 24 V supply and control electronics, refer to chapter "Proj-
ect planning" in the system manual.

Installation
Wiring diagrams
14
14.10.12 Connecting additional component DC link discharge module 1

Wiring the control
electronics 2
L1
L2
L3 3
PE
K11
L1 L2 L3 5
line filter
L1´ L2´ L3´
6
Axis module** 7
BG 1 - 6
Auxiliary contact
of K11*
X14
8
DC link Inhibit 1
DGND 2
discharge module 3
DGND DCOM / DGND **
Temp 4 reference potential 9
n.c. 5 for binary inputs
X5a X5b 10
DIxx
1 1 24VE
2 2 DGND
3 3 24VB 11
4 4 BGND
DGND PE 12
24 V for
brake supply - + -
24 V supply
+ for control electronics
13
4046960011
* Contact must be suitable for switching very small currents (≤ 50 mA). 14
** See chapter "Connecting axis modules" (page 571)
15
NOTICE
Possible damage of the power supply module and braking resistor.
16
When operating the DC link discharge module, make sure to activate discharge of the
DC link only if the following requirements are met: 17
• The main contacts of the K11 relay are open
• Output stage enable of all axis modules is withdrawn 18
19
INFORMATION
20
Use a contactor with lagging auxiliary contact to prevent that power supply module and
braking resistor are damaged.
21
22

Installation
14 Terminal assignment
14.11 Terminal assignment
INFORMATION
Reference potentials inside the unit:
The designation of the reference potentials is listed in the following table:
Designation Meaning
DGND General reference potential of control electronics. There is a metallic
PE connection to PE.
BGND Reference potential for brake connection
RGND Reference potential for safety relay
DCOM Reference potential for digital inputs
INFORMATION
Connection elements:
All connection elements are represented in the following tables as viewed from top.
14.11.1 Terminal assignment of MXP80.. power supply modules
INFORMATION
The technical data for the connection of power electronics and control electronics are
listed in chapter "Technical Data".

X1:1 PE
1 X1:2 L1
Line connection (size 1 / 10 kW)
X1 X1:3 L2
X1:4 L3
4
1 X3:1 +R
X3 X3:2 -R
Braking resistor connection (BG1 / 10 kW))
X3:3 n.c.
4
X3:4 PE
X1:1 PE
1 X1:2 L1
X1:3 L2
X1
X1:4 L3
4
1
X3 X3:1 +R
Braking resistor connection (size 2 / 25 kW)
3 X3:2 -R
X3:3 PE
Table continued on next page

Installation
Terminal assignment
14
Terminal Assignment Brief description 1

X1:PE PE
PE 3 X1:1 L1
Line connection (size 3 / 50, 75 kW) 2
X1:2 L2
X1:3 L3
3
X3:PE PE
PE 2 X3:1 +R Braking resistor connection (size 3 / 50, 75 kW)
X3:2 -R 4
X4:PE PE 5
PE X4:1 +VDCL DC link connection
X4:2 - VDCL
2 6
X5a:1 +24 VE
Voltage supply for electronics
1 X5a:2 DGND 7
X5a:3 +24 VB
Voltage supply for brake
X5a:4 BGND 8
4
X5b:1 +24 VE
X5b:2 DGND
Voltage supply for electronics 9
1
X5b:3 +24 VB 10
X5b:4 BGND
4
11
X9a X9a a = input: System bus, with green plug
X9b b = output: System bus, with red plug 12
X9b
13
X12:1 n.c.
1)
X12:2 CAN_L CAN bus low
6 1 X12:3 DGND Reference potential CAN bus 14
X12:5 RT Unit-internal bus terminating resistor
X12:6 DGND Reference potential CAN bus 15
9 5 X12:7 CAN_H CAN bus high
X12:8 CAN_H CAN bus high
16
1) Only for CAN-based system bus. With EtherCAT-®compatible system bus: without function.
17
18
19
20
21
22

Installation
14.11.2 Terminal assignment of MXP81.. power supply modules
INFORMATION
The technical data for the connection of power electronics and control electronics are
listed in chapter "Technical Data".

X1:1 PE
1 X1:2 L1
X1 X1:3 L2
X1:4 L3
4
1 X3:1 +R
X3 X3:2 -R
Braking resistor connection (BG1 / 10 kW))
X3:3 Ri
4
X3:4 PE
X4:PE PE
PE X4:1 +VDCL DC link connection
X4:2 - VDCL
2
X5a:1 +24 VE
X5a:2 DGND
1
X5a:3 +24 VB
X5a:4 BGND
4
X5b:1 +24 VE
X5b:2 DGND
1
X5b:3 +24 VB
X5b:4 BGND
4

X9b b = output: System bus, with red plug
X9b
X12:1 n.c.
1)
6 1 X12:3 DGND Reference potential CAN bus
X12:6 DGND Reference potential CAN bus
9 5 X12:7 CAN_H CAN bus high
X12:8 CAN_H CAN bus high
1) Only for CAN-based system bus. With EtherCAT-®compatible system bus: without function.

Installation
Terminal assignment
14
14.11.3 Terminal assignment of MXA axis modules 1

2
X2:PE PE
PE X2:1 U
3
Motor connection sizes 1, 2
X2:2 V
3 X2:3 W 4
X2:PE PE
PE X2:1 U
5
Motor connection size 3
X2:2 V
3 X2:3 W 6
X2:PE PE
PE 3 X2:1 U
Motor connection sizes 4, 5, 6
7
X2:2 V
X2:3 W
8
X4:PE PE
PE X4:1 +VDCL DC link connection 9
X4:2 - VDCL
2
X5a:1 +24 VE 10
X5a:2 DGND
1
X5a:3 +24 VB
11
X5a:4 BGND
4 12
X5b:1 +24 VE
X5b:2 DGND
1
13
X5b:3 +24 VB
X5b:4 BGND
4 14
1 X6:1 DBØØ 15
Brake connection (switched)
X6:2 BGND
2
Unit design with one safety relay, optional 16
1) X7:1 +24 V Safety relay I (sizes 1 – 6)
X7:2 RGND
X7:3 C Safety relay I (sizes 1 – 6), common contact
17
1 4 X7:4 NC Safety relay I (sizes 1 – 6), NC contact
The connector comes equipped with a coding nose. 18
Design with two safety relays, optional
X8:1 +24 V Safety relay II (sizes 2 – 6)
X8:2 RGND 19
X8:3 C Safety relay II (sizes 2 – 6), common contact
1 4 X8:4 NC Safety relay II (sizes 2 – 6), NC contact
The connector comes equipped with a coding nose.
20
Table continued on next page. Footnotes at the end of the table.
21
22

Installation

X9b b = output: System bus, with red plug
X9b
Digital input 1; with fixed assignment "Output

X10:1 DIØØ
stage enable"
X10:2 DIØ1
1 Digital input 2, freely programmable
X10:3 DIØ2
Digital input 3, freely programmable
X10:4 DIØ3 Electrically isolated via opto-
X10:5 DIØ4 coupler with reference to
X10:6 DIØ5 DCOM (X10:10).
X10:7 DIØ6
X10:8 DIØ7
X10:9 DIØ8
11 X10:10 DCOM Reference potential for the digital inputs DIØØ – DIØ8
X10:11 DGND General reference potential of control electronics
X11:1 DOØØ Digital output 1; freely programmable
1 X11:2 DOØ1 Digital output 2; freely programmable
X11:3 DOØ2 Digital output 3; freely programmable
X11:4 DOØ3 Digital output 4; freely programmable
5 X11:5 DGND Reference potential for digital outputs DOØØ – DOØ3
X12:1 n.c.
X12:2 CAN_L CAN2 bus low
6 1
X12:4 CAN_L CAN2 bus low
9 5
X12:7 CAN_H CAN2 bus high
X12:8 CAN_H CAN2 bus high
X13:1 S2 (SIN +)
X13:2 S1 (COS +)
X13:3 n.c.2)
X13:4 n.c.
X13:5 R1 (REF +)
15 8
X13:6 TF / TH / KTY -
X13:7 n.c.
X13:8 n.c. Motor resolver connection
X13:9 S4 (SIN -)
X13:10 S3 (COS-)
9 X13:11 n.c.
1
X13:12 n.c.
X13:13 R2 (REF -)
X13:14 TF / TH / KTY +
X13:15 n.c.
Table continued on next page. Footnotes at the end of the table.

Installation
Terminal assignment
14

X13:1 Signal track A (cos +)
X13:2 Signal track B (sin +)
X13:3 Signal track C
2
X13:4 n.c.
15 8
X13:5 n.c. 3
X13:6 TF / TH / KTY -
X13:7 n.c.
X13:8 DGND Connection of motor encoders: sin/cos encoder, TTL encoder 4
X13:9 Signal track A_N (cos -)
X13:10 Signal track B_N (sin -)
9 X13:11 Signal track C_N 5
1
X13:12 n.c.
X13:13 n.c.
X13:14 TF / TH / KTY +
6
X13:15 US3)
X13:1
Signal track A (cos +) 7
Signal track B (sin +)
X13:2
Signal track C (AS7W)
X13:3
X13:4
DATA+ 8
n.c.
X13:5
15 8 TF / TH / KTY -
X13:6
n.c.
9
X13:7
DGND
X13:8 Hiperface motor encoder connection®
X13:9
Signal track A_N (cos -) 10
Signal track B_N (sin -)
X13:10
9 Signal track C_N
X13:11
1
X13:12
(AS7W) 11
DATA-
X13:13
n.c.
X13:14
TF / TH / KTY + 12
X13:15
US3)
1) The pin assignment is identical for both connectors (X7 and X8) and they are interchangeable. Coding prevents an incorrect connec- 13
tion.
2) Do not connect a cable.
3) 12 V, max. 500 mA 14
15
14.11.4 Terminal assignment of the MXM master module
16
X5a:1 +24 VE
X5a:2 DGND
Voltage supply for electronics1) 17
1
X5a:3 +24 VB 18
Voltage supply for brake supply
X5a:4 BGND
4
X5b:1 +24 VE
19
X5b:2 DGND
1
X5b:3 +24 VB 20
X5b:4 BGND
4
21
1) Only for looping through
22

Installation
14.11.5 Terminal assignment of the MXC capacitor module
X4:PE PE
PE X4:1 +UZ DC link bus connection
X4:2 - UZ
2
X5a:1 +24 VE
X5a:2 DGND
1
X5a:3 +24 VB
X5a:4 BGND
4
X5b:1 +24 VE
X5b:2 DGND
1
X5b:3 +24 VB
X5b:4 BGND
4
14.11.6 Terminal assignment of the MXB buffer module
X4:PE PE
PE X4:1 +UZ DC link bus connection
X4:2 - UZ
2
X5a:1 +24 VE
X5a:2 DGND
1
X5a:3 +24 VB
Voltage supply for brake supply1)
X5a:4 BGND
4
X5b:1 +24 VE
X5b:2 DGND
1
X5b:3 +24 VB
X5b:4 BGND
4
1) Only for looping through

Installation
Terminal assignment
14
14.11.7 Terminal assignment of the MXS 24 V switched-mode power supply module 1

2
PE
X4:PE PE 3
X4:1 n.c. DC link bus connection
X4:2 - UZ
2 4
X5a:1 +24 VE
Voltage supply for electronics (channel 1)1)
X5a:2 DGND
1 5
X5a:3 +24 VB
Voltage supply for brake (channel 3)1)
X5a:4 BGND 6
4
X5b:1 +24 VE
Voltage supply for electronics (channel 2)1)
1 X5b:2 DGND 7
X5b:3 +24 VB
Voltage supply for brake (channel 3)1) 8
X5b:4 BGND
4
External 24 V voltage supply (input) 9
1 X16:1 +24 V
Is intended to supply the backup voltage to ensure that the control voltage is main-
X16:2 DGND
tained when switching off the power supply.
2 10
1)
The MXS switched-mode power supply provides a voltage supply of 3 × 24 V (chan-
nels 1 – 3). X5a and X5b are jumpered internally and represent one channel. The max- 11
imum current across all the three channels is 25 A (600 W). The uniform reference po-
tential of all channels is the unit's earth.
12
14.11.8 Terminal assignment of the DC link discharge module MXZ

13
PE X4:PE PE
15
X4:1 n.c. DC link bus connection
X4:2 - UZ
2
16
X5a:1 +24 VE
X5a:2 DGND
1 17
X5a:3 +24 VB
X5a:4 BGND
4 18
X5b:1 +24 VE
1 X5b:2 DGND 19
X5b:3 +24 VB
X5b:4 BGND 20
4
21
22

Installation

X14:1 Inhibit
Control signal for discharge process → discharge process is started once the con-
nection "Inhibit" with GND has been established.
1
X14:2 DGND
Connect the Inhibit input in a non-separable manner (fixed installation) with the
break contact of the line contactor.
X14:3 DGND
Reference potential for the TEMP digital output
X14:4 TEMP
5 Digital output (= High, 24 V) when the temperature of the MXZ.. power switch is in
the permitted range.
X14:5 n.c.
PE 2 X15:PE PE
Connection braking resistor for discharge
X15:1 Discharge
X15:2 n.c.
14.11.9 Terminal assignment of the braking resistors

The following figure shows a braking resistor with central tap.
R R
1 2 3
xΩ yΩ
Step ohmic value Total ohmic value
See also the wiring diagrams of the braking resistors (page 565).
Dimension drawings of braking resistors with information about the connection cable are
included in the "MOVIAXIS® Multi-Axis Servo Inverter" catalog.

Installation
Connecting the option cards
14
14.12 Connecting the option cards 1

14.12.1 Installation and function combinations of the option cards
2
MOVIAXIS® axis module can have up to three option cards installed. Depending on the
option cards that you want to install, the following combinations must be considered.
3
4
[1]
[2] 5
[3] 6
[4] 8
A
9
2936300811 10
[1 - 3] Slots 1 - 3, assignment see following table
[4] Control board – component of the basic unit
11
®
A general distinction is made between whether MOVIAXIS is used with the CAN-based
system bus SBus or the EtherCAT®-compatible SBusplus. 12
CAN unit variants
13
When using the CAN-based SBus, all three slots can be used according the following
table.
14
The following tables show the possible combinations and the fixed assignment of cards
to the slots.
15
16
17
18
19
20
21
22

Installation
14 Connecting the option cards
Fieldbus combinations
The fieldbus options can be plugged in the following combinations:
1)
1 Fieldbus option
2
3 XIA11A
4 XIO11A XGH
5 XGS
6 Fieldbus option XIO11A
7
8 XGH
XIA11A
9 XGS
10 XIA11A
11 Fieldbus option
12 XGS XGH
Fieldbus option
13 XGH
14 Fieldbus option
XGS
15 XGS Fieldbus option
1) XFE24A: EtherCAT®; XFP11A: PROFIBUS; XFA11A: K-Net
XIO combinations
The options can be combined as follows:
1
2 XIA11A
3 XGH
4 XGS
5 XGH
XIA11A
6 XGS
XIO11A
7 XGS
XGH
8 XGH
9 XGS XGS
10
11 XIO11A XGH
12 XGS

Installation
14
XIA combinations 1
2
1
2 XGH 3
3 XGS
4 XGS 4
XGH
5 XIA11A XGH
6 XGS XGS 5
7
8 XIA11A XGH 6
9 XGS
Combinations with XGH, XGS only 8

9
1
2 XGS XGH 10
3 XGH
11
Combinations with XGS only 12

13
1
XGS 14
2 XGS
15
16
17
18
19
20
21
22

Installation
EtherCAT®-capa- When using SBusplus (EtherCAT®-compatible high-speed system bus), the XSE option
ble units must be installed in slot 1.
The following table shows the possible combinations and the fixed assignment of cards
to the slots.
Combinations with EtherCAT®-compatible system bus

1
2
3 XIA11A
4 XIO11A XGH
5 XGS
6 XIO11A
7
8 XSE24A XGH
XIA11A
9 XGS
10 XIA11A
11
12 XGS XGH
13 XGH
14
XGS
15 XGS
Unit variant: "Axis The axis module is delivered with built-in option card as shown in the following table.
modules with built-
in, EtherCAT®-
compatible SBus- 1 XSE24A - -
plus
system bus"

Installation
14
14.12.2 Multi-encoder card option XGH11A, XGS11A 1

The multi-encoder card expands the MOVIAXIS® system for evaluation of additional en-
coders. 2
Two different multi-encoder cards are available. Their selection is based on the encoder
type that is to be evaluated, see encoder list on the next page. An analog, differential 3
input (±10 V) is available in addition.
XGH XGS 4
5
[X61] [X61]
7
[X62] [X62]
8
10
[X63] [X64]
11
12
2881678347
13
Overview of functions
The following functions and encoder types can be evaluated with the multi-encoder 14
card:
Functions XGH version XGS version 15
SSI functionality -- x
Hiperface® functionality
16
EnDat 2.1 functionality
Incremental encoder sin/cos functional-
ity 17
x x
Incremental encoder simulation
Temperature evaluation 18
Analog, differential input ±10 V
Optional voltage supply 24 V 19
Resolver -- --
• HTL encoders can be operated using an HTL → TTL interface adapter. You find the 20
part number of the interface adapter in the MOVIAXIS® catalog.
• Single-ended HTL encoders can be operated using an HTL → TTL interface adapter. 21
You find the part number of the interface adapter in the MOVIAXIS® catalog.
• Resolvers cannot be evaluated with the multi-encoder card. 22

Installation
Connection technology of the multi-encoder card

Suitable encoders You find the table of encoders supported by the multi-encoder card in the chapter "Suit-
able encoder systems" in the MOVIAXIS® catalog.
Restrictions for the evaluation of inputs for axis modules equipped with I/O and multi-encoder cards
INFORMATION
If the axis module is equipped with two I/O and one multi-encoder card or with one I/O
and two multi-encoder cards (see following table), the following restrictions apply for
the evaluation of inputs and outputs:
Evaluation is only possible for the inputs and outputs (if applicable) of two
cards.
Variant Plugged card Plugged card Plugged card

1 I/O card I/O card Multi-encoder card
2 I/O card Multi-encoder card Multi-encoder card
Supply of the multi- The table below shows the maximally permitted currents for supplying the XGH and
encoder card XGS multi-encoder cards via the MOVIAXIS® basic unit.
Number of multi-encoder Maximum permitted current Imax
cards
1 pc 500 mA
2 pc 800 mA1)
1) MOVIAXIS® cannot provide more than 800 mA in total for the supply of the multi-encoder cards

Installation
14
Wiring diagrams for encoder voltage supply 1

The following wiring diagrams show the connection of one and of two multi-encoder
cards with 12 V and 24 V encoder voltage supply. 2
The encoder voltage supplies are specified in the appendix in the "Suitable encoder" list
(page 726). 3
12 V without sup- Example: Wiring diagram of a multi-encoder card with 12 V and I ≤ 500 mA supply to the 4
ply encoder via the basic unit:
[1] 5
X61
(DGND) 3
(+24 V) 4
6
X63 / X64 9
[2]
10
2881680907
11
[1] Multi-encoder card [2] Encoder
12
24 V with external Example: Wiring diagram of a multi-encoder card with 24 V encoder voltage supply and
supply I ≤ 500 mA:
13
[2] [1]
X61 14
(DGND) 3 GND
(+24 V) 4 +24 V
F 15
16
17
X63 / X64
18
[3]
19
2881683467
[1] Voltage source [3] Encoder 20

[2] Multi-encoder card
21
22

Installation
12V / 24 V, total Example: Wiring diagram of a multi-encoder card with 12 V / 24 V encoder voltage sup-
current > 500 mA ply and a total current of > 500 mA:
[2] [1]
X61
(DGND) 3 GND
(+24 V) 4 +12 V / 24 V
F
X63 / X64
[3]
[2]
X61
(DGND) 3
(+24 V) 4
X63 / X64
[4]
2881822987
[1] Voltage source [3] Encoder 1

[2] Multi-encoder card [4] Encoder 2
INFORMATION
When using two multi-encoder cards, a maximum current of 800 mA can be supplied
to the encoder via the basic unit.
For a total current of > 800 mA, an external voltage supply must be implemented.

Installation
14
Connection and terminal description of the card 1

Connector assign-
ment X61 2
Terminal Assignment Brief description Type of connector
X61
1 AI 0+ Analog, differential
3
2 AI 0- input
1 3 DGND
Reference for PIN
Mini Combicon 3.5, 5-
4
4
pole. Cable cross section
n.c. Optional encoder max: 0.5 mm2
5
4 24 V voltage supply (24 5
V encoder only)
5 n.c.
6
Connector assign-
7
ment X62 encoder
Terminal Assignment Brief description Type of connector
emulator signals
X62 8
1 Signal track A
2 Signal track B
6 1
9
3 Signal track C
4 n.c.1)
Encoder emulator Sub-D 9-pole 10
5 DGND
signals (male)
9 5 6 Signal track A_N
7 Signal track B_N
11
8 Signal track C_N
9 n.c. 12
1) Do not connect any cable
13
PIN assignment
X63 XGH X64 14
Terminal Function for TTL encoder, sin/cos encoder Type of connec-
XGS with TTL tor
encoder, sin/cos 15
X63 (XGH)
encoder
1 Signal track A (cos+)
2 Signal track B (sin+) 16
3 Signal track C
4 n.c.1) 17
15 8 5 n.c.
6 TF/TH/KTY- 18
7 n.c.
Sub-D 15-pole
8 DGND
(female) 19
9 Signal track A_N (cos-)
9
1 10 Signal track B_N (sin-)
20
11 Signal track C_N
12 n.c.
13 n.c.
21
14 TF/TH/KTY+
15 Us 22

Installation
Connector assign-
ment X63 XGH
Terminal Function for Hiperface® encoder Type of connec-
X64 XGS with tor
Hiperface®
X63 (XGH)
encoder
2 Signal track B (sin+)
3 n.c.1)
4 DATA+
15 8 5 n.c.
6 TF/TH/KTY-
7 n.c.
Sub-D 15-pole
8 DGND
(female)
9 9 Signal track A_N (cos-)
1 10 Signal track B_N (sin-)
11 n.c.
12 DATA-
13 n.c.
14 TF/TH/KTY+
15 Us
1) Do not connect a cable
Connector assign-
ment X63 XGH
Terminal Function for EnDat 2.1 Type of connec-
X64 XGS with tor
EnDat 2.1
X63 (XGH)
1 Signal track A
2 Signal track B
3 Pulse +
4 DATA+
15 8 5 n.c.1)
6 TF/TH/KTY-
7 n.c.
Sub-D 15-pole
8 DGND
(female)
9 9 Signal track A_N
1 10 Signal track B_N
11 Cycle-
12 DATA-
13 n.c.
14 TF/TH/KTY+
15 Us

Installation
14
Connector assign- 1
ment X64 XGS
Terminal Function for SSI Type of connec-
with SSI tor 2
X64 (XGS)
1 n.c.1)
3
2 n.c.
3 Pulse +
4
4 DATA+
8 5 n.c.
15
6 TF/TH/KTY-
5
7 n.c.
8 DGND
Sub-D 15-pole 6
(female)
9 n.c.
9
1 10 n.c. 7
11 Cycle-
12 DATA- 8
13 n.c.
14 TF/TH/KTY+ 9
15 Us
1) Do not connect a cable 10
Connector assign- 11
ment X64 XGS
Terminal Function for SSI (AV1Y) Type of connec-
with SSI (AV1Y) tor 12
X64 (XGS)
13
2 Signal track B (sin+)
3 Pulse +
14
4 DATA+
15 8 5 n.c.1)
6 TF/TH/KTY-
15
7 n.c.
8 DGND
Sub-D 15-pole 16
(female)
9 9 Signal track A_N (cos-)
1
10 Signal track B_N (sin-) 17
11 Cycle-
12 DATA- 18
13 n.c.
14 TF/TH/KTY+ 19
15 Us
1) Do not connect any cable 20
21
22

Installation
Connection of TTL encoder to XGH, XGS

TTL encoder The following encoders can be connected at X63, X64 (external encoder input):
• DC 5 V TTL encoder with DC 5 V voltage supply type ES1T, ES2T, EV1T, EV2T or
EH1T via DWI11A option or encoder with signal level to RS422
DC 5 V voltage The TTL encoders with a DC 5 V voltage supply (ES1T, ES2T, EV1T, EV2T or EH1T)
supply must be connected via the "DC 5 V encoder power supply type DWI11A" option (part
number 822 759 4).
Connecting TTL encoders via DWI11A to XGH, XGS as a motor encoder:
XGH, X63/64: max. 5 m
1 YE
1 DWI11A
9 GN
6
15 8 RD
2 2
10 BU
7
PK 1
3 3 6
11 GY
8
WH
X1:
15 9 9
9 BN 5
1 8 5
BK
VT
쵰 쵰
ES1T / ES2T / EV1T/ EV2T / EH1T max. 100 m
YE 1
GN 6 5
9
RD 2
BU 7
X2: Encoder
PK 6 1
3
GY 8
WH 9
BN 5
VT* 4*
쵰 쵰
* Connect the sensor cable (VT) on the incremental encoder to UB, do not jumper on
the DWI11A.

Installation
14
DC 5 V encoder supply type DWI11A 1

Description If you are using an incremental encoder with a DC 5 V encoder power supply, install the
DC 5 V encoder power supply option type DWI11A between the inverter and the incre- 2
mental encoder.
This option provides a regulated DC 5 V power supply for the encoder. For this purpose, 3
the DC 12 V power supply for the encoder inputs is converted to DC 5 V by means of a
voltage controller. A sensor line is used to measure the supply voltage at the encoder
and compensate the voltage drop along the encoder cable. 4
Incremental encoders with DC 5 V encoder supply must not be connected directly to the
encoder inputs X14: and X15:. This would cause irreparable damage to the encoder. 5
INFORMATION 6
If a short circuit occurs in the sensor cable, the connected encoder may be exposed
to a voltage higher than permitted. 7
Recommendation Use prefabricated cables from SEW for the encoder connection. 8
Dimension drawing All dimensions in mm (in) 9
10
X1: MOVIDRIVE
11
75 (3.0)
12
X2: Encoder
13
DWI
14
5 (0.2) 68 (2.7)
22.5 (0.886) 73 (2.9)
15
1722678155
The DWI11A option is mounted on a support rail (EN 50022-35 × 7.5) in the control cab- 16
inet.
Technical data
17
DC 5 V encoder power supply option type DWI11A

18
Part number 822 759 4
Voltage input DC 10 – 30 V, Imax = DC 120 mA
19
Encoder power supply DC +5 V (up to Vmax ≈ +10 V), Imax = DC 300 mA
Max. line length that can be con- 100 m (328 ft) total
nected Use a shielded twisted-pair cable (A and A, B and B, C and C) for 20
connecting the encoder to the DWI11A and the DWI11A to
MOVIAXIS®.
21
22

Installation
14.12.3 Fieldbus interface option PROFIBUS XFP11A

Terminal assignment
DIP switch
Front view of XFP11A Description Function
Terminal
RUN: PROFIBUS operation Indicates that the bus electronics are operating cor-
LED (green) rectly.
BUS FAULT: PROFIBUS error Indicates PROFIBUS-DP error.

LED (red)
0 1
Assignment
20 X31: PROFIBUS connection X31:1 N.C.
21 X31:2 N.C.
22 X31:3 RxD / TxD-P
X31:4 CNTR-P
23 X31:5 DGND (M5V)
X31:6 VP (P5V/100 mA)
24 X31:7 N.C.
X31:8 RxD/TxD-N
25 X31:9 DGND (M5V)
26 ADDRESS: DIP switch for set- 20 Significance: 1
nc ting the PROFIBUS station 21 Significance: 2
address
2881884683 22 Significance: 4
23 Significance: 8
24 Significance: 16
25 Significance: 32
26 Significance: 64
nc Reserved
Connector assign- Connection to the PROFIBUS network using a 9-pin sub D plug according to IEC 61158.
ment The T-bus connection must be made using a plug with the corresponding configuration.
[2]
RxD/TxD-P 3
1 RxD/TxD-N 8
6
CNTR-P 4
[3]
DGND (M5V) 5
9 VP (P5V/100mA) 6
5
DGND (M5V) 9
[1]
2882128779
[1] 9-pin sub D plug

[2] Signal line, twisted
[3] Conductive connection over a large area between connector housing and shield

Installation
14
MOVIAXIS®-PRO- As a rule, the XFP11A option is connected to the PROFIBUS system using a shielded 1
FIBUS connection twisted-pair cable. Observe the maximum supported transmission rate when selecting
the bus connector.
2
The twisted-pair cable is connected to the PROFIBUS connector at pins 3 (RxD / TxD-
P) and 8 (RxD / TxD-N). Communication takes place via these two contacts. The RS-
485 signals RxD / TxD-P and RxD / TxD-N must be connected to the same contacts in 3
all PROFIBUS stations.
The PROFIBUS interface sends a TTL control signal for a repeater or fiber optic adapter 4
(reference = pin 9) via pin 4 (CNTR-P).
5
INFORMATION
If long bus cables are used, the bus stations must have a "hard" common reference
potential.
6
Baud rates greater The XFP11A option with baud rates > 1.5 Mbaud can only be operated with special
7
than 1.5 Mbaud 12-Mbaud PROFIBUS connectors.
8
10
11
12
13
14
15
16
17
18
19
20
21
22

Installation
Setting the station address

The PROFIBUS station address is set using DIP switches 20 – 26 on the option card.
MOVIAXIS® supports the address range 0 – 125.
The default setting for the PROFIBUS station address is 4:
0 1
20 → Significance: 1 × 0 = 0
20
21 22 → Significance: 4 × 1 = 4
22 23 → Significance: 8 × 0 = 0
23
24
24 → Significance: 16 × 0= 0
25 25 → Significance: 32 × 0 = 0
26 26 → Significance: 64 × 0 = 0
nc
2882128779
Any change made to the PROFIBUS station address during ongoing operation does not
take effect immediately. The change takes effect when the servo inverter is switched on
again (power supply +24 V OFF/ON).
Example: Setting the PROFIBUS station address 17
0 1
20
21 22 → Significance: 4 × 0 = 0
22 23 → Significance: 8 × 0 = 0
23
24
25 25 → Significance: 32 × 0 = 0
26 26 → Significance: 64 × 0 = 0
nc
2882128779

Installation
14
14.12.4 EtherCAT® XFE24A fieldbus interface option 1

The XFE24A fieldbus interface is a slave module for connection to EtherCAT® networks.
Only one XFE24A fieldbus interface can be installed per axis module. The XFE24A field- 2
All standards of the ETG (EtherCAT® Technology Group) are supported, e.g. for wiring.
This means the cables must be wired at the front by the customer. 3
4
XFE
I O F1 switch
F1 [1] • Switch position 0: Delivery state
[2] RUN LED; color: green/orange 5
RUN [2] [3] LED ERR; color: red
ERR [3] [4] LED Link IN; color: green
6
Lnk IN [4] [5] LED Link OUT; color: green
OUT [5] [6] Bus input
Lnk
[7] Bus output 7
EtherCAT
8
IN
[6]
X30
10
OUT
[7]
X31
11
12
2882456971
For more information about the EtherCAT® fieldbus interface, refer to the "MOVIAXIS® 13
MX Multi-Axis Servo Inverter XFE24A EtherCAT® Fieldbus Interface" manual.
14
Technical data
XFE24A option (MOVIAXIS®) 15
Standards IEC 61158, IEC 61784-2
Baud rate 100 MBd full duplex 16
Connection technology 2 × RJ45 (8x8 modular jack)
Bus termination Not integrated because bus termination is automatically activated. 17
OSI layer Ethernet II
Station address Setting via EtherCAT® master 18
Vendor ID 0 x 59 (CANopenVendor ID)
• CoE (CANopen over EtherCAT®)
EtherCAT® services
• VoE (Simple MOVILINK® Protocol over EtherCAT®)
19
Firmware status of MOVIAXIS® Firmware status 21 or higher
Tools for startup • PC program MOVITOOLS® MotionStudio from version 5.40 20
21
22

Installation
14.12.5 EtherCAT®-compatible XSE24A system bus option

The EtherCAT®-compatible system bus XSE24A is an optional, axis-internal expansion
module. This module implements the functionality of an EtherCAT®-compatible high-
speed system bus for MOVIAXIS®. The XSE24A option module is no fieldbus interface.
It cannot be used for communication with non-SEW EtherCAT® masters.
plug connection on the top of the unit included in the standard scope of delivery. The
CAN system bus is not available when XSE24A is used.
[1] LAM switch

XSE
I O • Switch position 0: All axis modules except the last one

LAM [1] • Switch position 1: Last axis module in the system
F1 [2]
[2] F1 switch
RUN [3]
ERR [4]
Lnk IN [5]
[4] LED ERR; color: red
Lnk OUT [6]
[5] LED Link IN; color: green
[6] LED Link OUT; color: green
EtherCAT
IN
X30
OUT
X31
2882542731
The LAM switch refers to the signal bus from the power supply module. It must always
be activated in the last axis of an axis system. This last axis must not necessarily corre-
spond with the last EtherCAT® station.

Installation
14
14.12.6 Optional input/output card type XIO11A 1

INFORMATION
2
For information about the ground designations used in the following wiring diagrams,
refer to section "Terminal assignment" on the next page.
3
Supply • The logic of the module is supplied by MOVIAXIS®.
4
• Digital inputs and outputs are supplied via the DCOM and 24 V terminals on the front.
The supply voltage must be fused with 4 A, see also chapter "UL-compliant installa-
tion". 5
• The digital inputs and outputs are electrically isolated from the logic supply.
6
Module behavior
Short circuit In the event of a short circuit of a digital output, the driver will change to pulse mode and 7
in this way protects itself. The status of the digital output does not change.
Once the short-circuit is eliminated, the status of the digital output is that which is output 8
by MOVIAXIS® at that moment.
9
Switching inductive • The module does not contain an internal free-wheeling diode for receiving inductive
loads energies when inductive loads are switched off.
10
• The inductive load per output is 100 mJ at a frequency of 1 Hz.
• The inductive energy is converted into heat energy in the switching transistor. A volt- 11
age of -
• 47 V is present. In this way, the energy can be reduced faster than by using a free- 12
wheeling diode.
• The load capacity of the outputs through inductive loads can be increased by adding
13
an external free-wheeling diode. However, switching off will take considerably lon-
ger.
14
Switching digital Connecting two digital outputs in parallel doubles the nominal current.
outputs in parallel 15
Cable length • The maximum cable length of connections on the inputs and outupts is 30 m outside 16
the control cabinet, and 10 m inside the control cabinet.
• If you route the cables outside the control cabinet, you have to shield them irrespec- 17
tive of their length.
18
19
20
21
22

Installation
Terminal assignment
Designation Terminal Plug Plug size

DCOM 1
+24 V 2
DO 0 3
DO 1 4
DO 2 5
X21
DO 3 6
DO 4 7
DO 5 8
DO 6 9
DO 7 10 COMBICON 5.08
DI 0 1
DI 1 2
DI 2 3
DI 3 4
DI 4 5
X22
DI 5 6
DI 6 7
DI 7 8
2882694795
Connection dia-
gram
Connection of digi-
tal inputs +24V
DCOM
XIO11A
+24V Voltage
supply
DCOM
DCOM
DI0
Logic
DCOM DCOM DGND DGND
2882697867

Installation
14
Connection of digi- 1
tal outputs +24V
DCOM 2
XIO11A
3
+24V
Load 4
DCOM
DCOM Logic
5
DO0
DCOM DGND DGND
2882701195 7
8
INFORMATION
It the 24 V supply for the outputs is disconnected, the inputs will not function any lon-
9
ger.
10
11
12
13
14
15
16
17
18
19
20
21
22

Installation
14.12.7 Optional input/output card type XIA11A
INFORMATION
For information about the ground designations used in the following wiring diagrams,
refer to section "Terminal assignment" on the next page.
Supply • The logic of the module is supplied by MOVIAXIS®.

• Analog inputs and outputs are also supplied by MOVIAXIS®.
• Digital inputs and outputs are supplied via the DCOM and 24 V terminals on the front.
The supply voltage must be fused with 4 A, see chapter "UL-compliant installation".
• The digital inputs and outputs are electrically isolated from the logic supply.
Module behavior
Short circuit of digi- In the event of a short circuit of a digital output, the driver will change to pulse mode and
tal outputs in this way protects itself. The state of the digital outputs does not change.
Once the short-circuit is eliminated, the state of the digital output is that which is output
by MOVIAXIS® at that moment.
Short circuit analog The analog outputs are sustained short-circuit proof.
outputs
In the event of a short circuit, the output current is limited to a value of max. 30 mA. The
short-circuit current is not pulsed.
Once there is no longer a short-circuit, the setpoint output voltage is output again, which
means the output does not switch off.
Switching inductive • The module does not contain an internal free-wheeling diode for receiving inductive
loads energies when inductive loads are switched off.
• The inductive load per output is 100 mJ at a frequency of 1 Hz.
• The inductive energy is converted into heat energy in the switching transistor. A volt-
age of -47 V is present. In this way, the energy can be reduced faster than by using
a free-wheeling diode.
• The load capacity of the outputs through inductive loads can be increased by adding
an external free-wheeling diode. However, switching off will take considerably lon-
ger.
Switching digital Connecting two digital outputs in parallel doubles the nominal current.
outputs in parallel
Cable length • The maximum cable length of connections on the inputs and outupts is 30 m outside
the control cabinet, and 10 m inside the control cabinet.
• If you route the cables outside the control cabinet, you have to shield them irrespec-
tive of their length.

Installation
14
Terminal assignment 1
Designation Terminal
2
DCOM 1
24 V 2 3
DO 0 3
DO 1 4 4
DO 2 5
X25
DO 3 6 5
DI 0 7
DI 1 8 6
DI 2 9
DI 3 10 COMBICON 5.08
One core per terminal: 0.20 - 1.5 mm2 7
Al 0+ 1
Al 0- 2
8
Al 1+ 3
Al 1- 4
AO 0 5
9
X26
AO 1 6
DGND 7 10
DGND 8
11
2883219723
12
Connection dia-
gram 13
Wiring the digital
inputs +24V 14
DCOM
15
XIA11A
16
+24V Voltage
supply
17
DCOM
DCOM
18
DI0
Logic 19
DCOM DCOM DGND DGND
20
21
2883419659
22

Installation
Connection of digi-
tal outputs +24V
DCOM
XIA11A
+24V
Load
DCOM
DCOM Logic
DO0
DCOM DGND DGND
2883422603
INFORMATION
The analog/binary hybrid module XIA11A has no internal free-wheeling diodes.

Installation
14
Wiring the analog 1

inputs
XIA11A
Sensor 2
-10V<U<10V
+ + +
- - AI0
-
ADC Logic 3
DGND DGND
4
5
DGND
6
Ground bar
7
DGND
2883425547
8
Switching the ana-
log outputs 9
XIA11A
Actuator
10
AO0
IN+ DAC Logic
IN-
DGND DGND DGND
11
DGND
DGND
12
DGND 13
Ground bar
DGND 14
2883428491
15
INFORMATION 16
The analog/binary hybrid module XIA11A has no internal free-wheeling diodes.
17
18
19
20
21
22

Installation
14.12.8 Optional fieldbus interface K-Net XFA11A

The XFA11A (K-Net) fieldbus interface is a slave component for connection to a serial
bus system for high-speed data transfer. Install no more than one XF11A fieldbus inter-
face per axis module.
Terminal assign-
ment
Brief description Terminal

X31
socket)
K-Net connection (RJ-45

X32
socket)
INFORMATION
X31 and X32 can be used as either input or output.

Installation
Connecting encoders to the basic unit
14
14.13 Connecting encoders to the basic unit 1

INFORMATION
2
The core colors specified in the wiring diagrams are in accordance with IEC757 and
correspond to the core colors used in the prefabricated cables from SEW-EURO-
DRIVE. 3
You find detailed information in the publication "SEW Encoder Systems". The publica-
tion is available from SEW-EURODRIVE. 4
5
14.13.1 Example
6
View connection motor
View of the flange sockets in a servomotor
encoder to axis module
7
[1] [2]
15 8
8
9
9 8
7
P
10 12
3 11
4
5
6
9
10
1
11
12
13
14
1406539403 1403604363
[1] Power connection 15

[2] Encoder connection
16
WARNING
17
Dangerous contact voltages at the unit terminals when connecting the wrong temper-
ature sensors.
18
• Connect only temperature sensors with reliable isolation from the motor winding to
the temperature evaluation. Otherwise, the requirements for reliable isolation are 19
not met. Dangerous contact voltages may occur at the unit terminals via the signal
electronics in case of an error. 20
The connector assignment is listed in section "Terminal assignment of the MXA axis
modules" (page 581). 21
22

Installation
14 Connecting encoders to the basic unit
14.13.2 General installation notes

Encoder connec- • Max. cable length: 100 m with a capacitance per unit length ≤ 70 nF/km.
tion • Core cross section: 0.20 – 0.5 mm2.
• If you do not use a core of the encoder cable: Isolate the core end.
• Use shielded cables with twisted pair conductors and make sure they are grounded
on both ends over a large surface area:
– To the encoder in the cable gland or in the encoder plug,
– To the servo drive in the housing of the D-sub connector.
• Route the encoder cable separately from the power cables.
14.13.3 Shielding
Connect the shield of the encoder cable over a large area.
At the servo drive Connect the shield on the servo drive end in the housing of the D-sub connector.
1406541835
On the Connect the shield on the encoder side only on the respective grounding clamps, not on
encoder/resolver the cable gland.
For drives with a plug connector, connect the shield on the encoder plug.
14.13.4 Prefabricated cables

SEW-EURODRIVE offers prefabricated cables for connecting encoders. SEW-
EURODRIVE recommends to use these prefabricated cables.
For detailed information about prefabricated cables, refer to the "MOVIAXIS® Multi-Axis
Servo Inverter" catalog.

Installation
Notes on electromagnetic compatibility
14
14.14 Notes on electromagnetic compatibility 1

14.14.1 Separate cable ducts
2
• Route power cables and electronic cables in separate cable ducts.
3
14.14.2 Shielding and grounding
• Only use shielded control cables. 4
• Connect the shield by the shortest possible route and make sure it is grounded
over a wide area at both ends. This also applies to cables with several shielded
5
core strands.

6

7

8

9

10

11
1406710667 12
13
• Shielding can also be achieved by laying the cables in grounded sheet metal
ducts or metal pipes. Always install the power and signal lines separately.
14
• Ground the multi-axis servo drive and all additional devices to meet the high-
frequency guidelines. You achieve this, e. g. through a wide area metal-on-metal
contact between the unit housing and ground, for example by means of unpainted 15
control cabinet mounting panels.
16
17
18
19
20
21
22

Installation
14 Notes on electromagnetic compatibility
14.14.3 Line filter

• Install the line filter close to the servo drive but outside the minimum clearance for
cooling.
• Do not switch between the line filter and the MOVIAXIS® multi-axis servo inverter.
• Keep the length of the cable between the line filter and servo drive to an abso-
lute minimum, and never more than 600 mm. Unshielded, twisted cables are suffi-
cient. Use unshielded cables for the supply system lead as well. Shielded cables
must be used for cables longer than 600 mm.
• No EMC limits are specified for interference emission in voltage supply sys-
tems without grounded star point (IT systems). The effectiveness of input filters
in IT systems is severely limited.
14.14.4 Interference emission

SEW-EURODRIVE recommends the following EMC measures to limit interference
emission:
• On the power system:
– Select line filters according to the assignment tables of braking resistors and line
filters in the "Technical data" chapter.
• Motor side:
– Shielded motor cables.
• Braking resistor:
– You find notes on the selection of braking resistors in the system manual in the
chapter on "Project Planning".
14.14.5 Interference emission category

Compliance with category "C2" according to EN 61800-3 has been tested on a specified
test setup when the following measures are adhered to:
• Installation of the servo inverters in a control cabinet with galvanized mounting plate
according to the rules for EMC compliant installation.
• Use of a corresponding line filter
• Use of shielded SEW motor cables
SEW-EURODRIVE can provide detailed information on request.
WARNING
This product can cause high-frequency interferences in residential areas which can re-
quire measures for interference suppression.

Installation
UL-compliant installation
14
14.15 UL-compliant installation 1

Note the following information for UL-compliant installation:
2
• Use only copper cables with the temperature range 60/75 °C as connection cables.
• Permitted tightening torques for MOVIAXIS® power terminals.
3
Please observe the document "Information regarding UL" on the SEW website
www.sew-eurodrive.com.
4
14.15.1 Permitted tightening torques

5
Tightening torque 6
Power supply module Line connection X1 Braking resistor terminals
Size 1 0.5 – 0.6 Nm 0.5 – 0.6 Nm 7
MXP81 0.5 – 0.6 Nm 0.5 – 0.6 Nm
Size 2 3.0 – 4.0 Nm 3.0 – 4.0 Nm
8
Size 3 6.0 – 10.0 Nm 3.0 – 4.0 Nm
Supply and regenerative module
9
MXR1) 6.0 – 10.0 Nm 3.0 – 4.0 Nm
Axis module Motor connection X2 ---
Size 1 0.5 – 0.6 Nm ---
10
Size 2 1.2 – 1.5 Nm ---
Size 3 1.5 – 1.7 Nm --- 11
Size 4 3.0 – 4.0 Nm ---
Size 5 3.0 – 4.0 Nm --- 12
Size 6 6.0 – 10.0 Nm ---
DC link discharge module Braking resistor connection X15 --- 13
All sizes 3.0 – 4.0 Nm ---
1) For detailed information about MXR, refer to the "Supply and Regenerative Module" manual" 14
Tightening torque
15
of the signal terminals X10, X11 0.5 – 0.6 Nm
of the DC link bus connection X4 3.0 – 4.0 Nm
of the safety relay terminals X7, X8 0.22 – 0.25 Nm
16
of the brake connection terminals X6 of the axis modules 0.5 – 0.6 Nm
of the 24 V voltage supply terminals 0.5 – 0.6 Nm 17
of the terminals X61 for multi-encoder cards XGH, XGS 0.22 – 0.25 Nm
of the terminals X21, X22, X25, X26 of the input/output cards XIO, 0.5 – 0.6 Nm 18
XIA
19
NOTICE 20
• Use only the stipulated connection elements and adhere to the specified tightening 21
torques. Otherwise, excessive heat can develop which would damage the
MOVIAXIS® multi-axis servo inverter. 22

Installation
14 UL-compliant installation
14.15.2 Other UL requirements

• MOVIAXIS® MX multi-axis servo inverters are suitable for operation in voltage net-
works with earthed star point (TN and TT systems), a maximum line current of 42000
A and a maximum line voltage of AC 500 V.
• Maximum permitted value of the line fuse:
MXP power supply module 10 kW 25 kW 50 kW 75 kW
Line fuse 20 A 40 A 80 A 125 A
• Only use melting fuses as input fuses.

• For information on selecting cable cross sections, refer to the system manual.
• Comply with the country-specific installation regulations in addition to the above
notes.
• The plug-in connections of the 24 V supply are limited to 10 A.
• Option cards that are supplied via the 0 V and 24 V terminals at the front must be
protected individually or in groups by 4 A melting fuses to UL 248.
INFORMATION
UL certification does not apply to operation in voltage supply systems without earthed
star point (IT systems).

Startup I
General information
15
0
15 Startup 1
2
DANGER
Uncovered power connections. 3
• Install the covers at the modules, see chapter "Covers and touch guards" 4
(page 554).
• Install the touch guards as instructed, see chapter "Covers and touch guards" 5
(page 554).
• Never startup the MOVIAXIS® multi-axis servo inverter if the covers and touch
guards are not installed. 6
15.1.1 Prerequisite 7
The drive must be configured correctly to ensure that startup is successful. Refer to the
"MOVIAXIS® Multi-Axis Servo Inverter" system manual for detailed project planning 8
notes and an explanation of the parameters.
The startup functions described in this section are used to set the multi-axis servo drive 9
so it is optimally adapted to the connected motor and to the given boundary conditions.
Startup has to take place according to the instructions in this section.
10
15.1.2 Hoist applications 11
WARNING 12
Risk of fatal injury if the hoist falls.
13
Severe or fatal injuries.
• The MOVIAXIS® multi-axis servo inverter may not be used for any safety functions
in conjunction with hoist applications. Use monitoring systems or mechanical pro- 14
tection devices to ensure safety.
15
15.1.3 Connecting power to the axis system
16
CAUTION 17
• Observe a minimum switch-off time of 10 s for the relay K11.
• Do not turn the power on or off more than once per minute!
18
Irreparable damage to the unit or unforeseeable malfunctions.
The specified times and intervals must be observed. 19
20
21
22

I Startup
15 Power supply module settings for CAN-based system bus SBus
0
15.1.4 Connecting cables, operating switches
CAUTION
state.
Irreparable damage to the unit or unforeseeable malfunctions.
De-energize the unit.
15.2 Power supply module settings for CAN-based system bus SBus
The following settings are necessary:
• The CAN baud rate is set using the two address switches S1 and S2 on the power
supply module, see section "Setting the CAN baud rate" (page 621).
• The 4 DIP switches for setting the system bus are set to "C".
• The axis address is set using the two address switches S3 and S4 on the power sup-
ply module, see section "Setting the CAN axis address" (page 621). The next axis
address will be set automatically based on the first address.
C E
[1]
[2] S1
ON
[3] S2
[4]
9 0 1
8 2
S3
7 3
6 4
5
9 0 1
8 2
S4
7 3
6 4
5
1407811467
[1] DIP switches system bus [3] S3: Axis address switch 100
[2] S1, S2: DIP switches for CAN baud rate [4] S4: Axis address switch 101
For detailed information about assigning an address to a supply and regenerative mod-
ule, refer to the "MXR Supply and Regenerative Module" manual.

Startup I
Power supply module settings for CAN-based system bus SBus
15
0
15.2.1 Setting the CAN transmission rate 1

The two DIP switches S1 and S2 have been installed in the power supply module for
setting the CAN transmission rate, see illustration in chapter "Power supply module set- 2
tings for CAN-based system bus" (page 620).
3
125 kbit/s 250 kbit/s 500 kbit/s 1 Mbit/s
4
S1
5
ON
ON
ON
ON
6
S2
ON
ON
ON
ON
7
INFORMATION
8
The default setting at delivery is 500 kbit/s.
9
15.2.2 Setting the CAN axis address
The two rotary switches S3 and S4 have been installed in the power supply module for 10
setting the axis address of the axis system, see illustration in chapter "Power supply
module settings for CAN-based system bus" (page 620). Use these rotary switches to
11
set a decimal address between 0 and 99.
12
9 0 1
S3 rotary switch 8 2 100 = units digit
7
13
3
6 4
5
14
9 0 1
S4 rotary switch 8 2 101 = tens digit
15
7 3
6 4 16
5
Axis address "23" is set as an example in the illustration above.

17
INFORMATION 18
The default factory setting is "1".
19
20
21
22

I Startup
15 Power supply module settings for CAN-based system bus SBus
0
The addresses within the axis system are assigned as follows:
Signal bus
Terminating
X9 X9 X9 X9 X9 X9 X9 X9 X9 resistor*
a/b a/b a/b a/b a/b a/b a/b a/b a/b
MXP MXA MXA MXA MXA MXA MXA MXA MXA
23 24 25 26 27 28 29 30
1407827979
* Terminating resistor only for CAN transmission
In the example, the address of the first axis module is "23". The other axes are assigned
addresses in ascending order.
If the axis system includes less than 8 axes, the remaining addresses will not be as-
signed.
The axis address set this way is used for the addresses of the CAN communication (part
of the system bus) or the K-Net fieldbus interface option XFA11A. The axis addresses
are assigned only once during startup of the DC 24 V voltage supply of the axis system.
The basic addresses are only changed during operation when the axis module is start
up again (24 V supply voltage on/off).

Startup I
Power supply module settings for CAN-based system bus SBus
15
0
15.2.3 Bus terminating resistors for CAN-based system bus SBus 1

The CAN-based system bus connects the power supply module with the axis module.
This CAN bus requires a terminating resistor. 2
The following figure shows a schematic representation of the CAN communication and
the respective position of the terminating resistor. 3
The terminating resistor is a standard accessory of the power supply module.
4
Signal bus
Terminating
X9
a/b
X9
a/b
X9
a/b
X9
a/b
X9 X9
a/b
X9 X9 X9 resistor 5
a/b a/b a/b a/b
6
[1] MXP MXA MXA MXA MXA MXA MXA MXA MXA
1 2 3 4 5 6 7 8
[2]
[3] 7
CAN1
8
1408029835 9
[1] Connection cable between PC and CAN interface on the power supply module. The connection cable
consists of the USB-CAN interface [2] and the cable with integrated terminating resistor [3]. 10
[2] USB-CAN interface [3] Cable with integrated terminating resistor (120 Ω between CAN_H
and CAN_L)
11
For more information on communication between the PC and the MOVIAXIS® system,
refer to chapter "Communication via CAN adapter" (page 630).
12
13
14
15
16
17
18
19
20
21
22

I Startup
15 Communication selection
0
15.3 Communication selection

The following figures show the possible access types for the system buses of the unit
system.
[2] [2]
[1]
[3]
MXM MXP MXA MXA MXA MXM MXP MXA MXA MXA
1408130315
[1] PC-CAN to CAN-based system bus SBus

[2] Master module with CAN-based system bus SBus/EtherCAT®-compatible system bus SBusplus
[3] PC-CAN to CAN-based application bus CAN2
SEW-EURODRIVE recommends the following communication paths:

• Unit system without master module: CAN
• Unit system with master module and DHE/DHF/DHR/UFx: TCP/IP or USB
Use the following table to select the type of communication for startup depending on the
unit configuration.
Access to Access via
Power sup- Axis modules
Master module
ply module
Via communication interface ...
Hardware configuration of
the unit system PROFIBUS CAN RS485 TCP/IP USB RT CAN1) CAN22)
Without master module x x
Master module + DHE x (x) x x x
Master module + DHF/UFx41 x3) x (x) x x x
4)
Master module + DHR/UFx41 x (x) x x x x
1) CAN-based system bus
2) Only if CAN2 if free for engineering
3) Only for operation for PROFIBUS DP
4) Real-time Ethernet parameter channel via controller

Startup I
CAN-based application bus CAN2 – information and settings
15
0
15.4 CAN-based application bus CAN2 – information and settings 1

15.4.1 Connections and PC diagnostics at the power supply module
2
INFORMATION 3
CAN connections shall only be implemented in the control cabinet to avoid potential
shifts. 4
max. 5 m 5
6
[1] MXP
[2] 7
[3]
8
CAN1
1407830539 9
[1] Connection cable between PC and CAN interface on the power supply module. The connection cable
consists of the USB-CAN interface [2] and the cable with integrated terminating resistor [3]. 10
and CAN_L)
The maximum permitted cable length between terminating resistor and power supply 11
module is 5 m.
12
INFORMATION
Observe the notes of the cable manufacturer on CAN suitability when selecting the ca-
ble.
13
14
15
16
17
18
19
20
21
22

I Startup
15 CAN-based application bus CAN2 – information and settings
0
15.4.2 Connecting CAN cables to the power supply module

Connection The connection and extension cable between the CAN adapter and the axis system
assignment of con- comes equipped with a 9-pin D-sub socket on both ends, see chapter "Communication
nection and exten- via CAN adapter" (page 630). The pin assignment of the connection cable with the 9 pin
sion cables D-sub CAN connector is shown in the following figure.
Adapter end Supply module end

MOVIAXIS® MXP
Socket
max. 130 m Socket
1
6 + 5 V / not assigned
CAN_GND
1
2 6
CAN_L
CAN_H
7 CAN_GND 2
3 CAN_L
CAN_GND 7
8 CAN_H
3
not assigned 4 CAN_GND
not assigned 8
9 4
+5 V / not assigned 5
not assigned
9
5
쵰 쵰
1407832971
Connection assignment of X12 (pin) on the power supply module
Supply module
MOVIAXIS® MXP
pin
X12
1
6 n. c.
DGND 2
CAN_L
CAN_H
7
3 DGND
CAN_H
8
4 CAN_L
9
5
Terminating
resistor
(built-in)
1407835403

Startup I
15
0
15.4.3 Connections and PC diagnostics at the axis module 1

INFORMATION
2
CAN connections shall only be implemented in the control cabinet to avoid potential
shifts.
3
4
Signal bus
Terminating
max. 5 m X9 X9
X9 X9 X9 X9 resistor
a/b a/b a/b a/b a/b a/b a/b 5
6
[1] MXP MXA MXA MXA MXP MXA MXA MXA
[2]
[3] 7
1408034443 9
[1] Connection cable between PC and CAN interface on the axis module. The connection cable consists
of the USB-CAN interface [2] and the cable with integrated terminating resistor [3]. 10
and CAN_L)
The maximum permitted cable length between terminating resistor and the first axis 11
module is 5 m.
12
INFORMATION
13
For the connection between the axis systems, please use prefabricated cables from
SEW-EURODRIVE.
14
15
15.4.4 Setting the CAN2 axis address 16

All axis modules are set to address "0" at the factory. Each axis module must be given
a CAN2 axis address by means of parameter setting.
17
18
19
20
21
22

I Startup
15 CAN-based application bus CAN2 – information and settings
0
15.4.5 Connecting CAN2 cables to the axis modules

Pin assignment of The connection and extension cable between the CAN adapter and the axis system
connection and comes equipped with a 9-pin D-sub socket on both ends, see chapter "Communication
extension cable via CAN adapter" (page 630). The pin assignment of the connection cable with the 9 pin
D-sub CAN connector is shown in the following figure.
Adapter end MOVIAXIS® MX

axis module end
Socket Plug
Max. 130 m
1 1
6 + 5 V / not assigned + 5 V / not assigned 6
CAN_GND 2 2 CAN_GND
CAN_L CAN_L
7 7
CAN_H CAN_H
3 CAN_GND
3
CAN_GND 8
Not assigned
8
4 4 Not assigned
Not assigned Not assigned
9 9
+5 V / not assigned +5 V / not assigned
5 Not assigned Not assigned
5
9007200662777867
Connection
assignment of X12
Axis module Axis module
(pin) on the axis MOVIAXIS® MXA MOVIAXIS® MXA
module pin pin
X12 X12
1 1
n.c. n.c.
6 6
DGND 2 DGND 2
CAN_L CAN_L
CAN_H
7 CAN_H
7
3 DGND 3 DGND
8 8
CAN_H 4 CAN_H 4
9 CAN_L 9 CAN_L
5 5
Terminating resistor
Terminating (built-in)
[1] resistor [2] is activated by
(built-in) jumpers in the plug
1408118539
[1] Terminating resistor not active

[2] Terminating resistor active

Startup I
15
0
15.4.6 Bus terminating resistor for CAN2 bus connection 1

The CAN-based application bus CAN2 connects the power supply module with the axis
module. The CAN2 bus requires a terminating resistor. 2
The following figure shows the diagram of possible combinations for CAN communica-
tion and the respective position of the terminating resistor. 3
The terminating resistor is a standard accessory of the power supply module .
4
Terminating
resistor
5
6
MXP MXA
[1] 1
[2] [3] Terminating resistor 7
6
7
1
3
must be activated
at CAN2 unit connection.
8
4
9
5
CAN2 8
9
1408123019
[1] Connection cable between PC and CAN interface on the axis module. The connection cable consists
of the USB-CAN interface [2] and the cable with integrated terminating resistor [3]. 10
and CAN_L)
11
INFORMATION 12
Install terminating resistor.
13
The terminating resistor in the last axis module of the axis system must be activated,
see chapter Connecting CAN2 cables to the axis modules" (page 628).
14
15
16
17
18
19
20
21
22

I Startup
15 Communication via CAN adapter
0
15.5 Communication via CAN adapter

For communication between a PC and a MOVIAXIS® system, we recommend using the
CAN adapter from SEW-EURODRIVE, which is supplied with a prefabricated cable and
a terminating resistor. The part no of the CAN adapter is 18210597.
As an alternative, the CAN adapter "USB Port PCAN-USB ISO (IPEH 002022)" from the
company Peak can be used.
• In case you design the terminals yourself, you must install a terminating resistor of
120 Ω between CAN_H and CAN_L.
• For secure data transmission, you also need a shielded cable suitable for CAN net-
works.
• There are two communication paths for the axes in the axis system:
1. Via the 9-pin D-sub connector X12 on the power supply module (CAN-based
SBus), see chapter "Connecting CAN cables to the power supply module"
(page 626).
2. Via the 9-pin D-sub connector X12 to an axis module of the system (CAN-based
application bus CAN2), see chapter "Connecting CAN2 cables to the axis mod-
ules" (page 628).
INFORMATION
Cable connection and cable extension
SEW-EURODRIVE recommends using connection and extension cables with 1:1
through-connection in shielded design.
Observe the notes of the cable manufacturer on CAN suitability when selecting the ca-
ble.

Startup I
Settings for EtherCAT ®-compatible system bus SBusplus
15
0
15.6 Settings for EtherCAT®-compatible system bus SBusplus 1

Please note the following when using an EtherCAT®-compatible system bus:
2
• Set the 4 DIP switches on the power supply module to position "E".
C E
3
[1] 4
[2] 7
1408125451 9
[1] Settings for EtherCAT® operation: All 4 switches set to "E"
[2] DIP switches S1, S2, S3 and S4 and X12 have no functions 10
• In this variant, switches S1, S2, S3 and S4 as well as terminal X12 on the power sup-
ply module do not have any function. 11
• Set the DIP switch LAM to setting "1" at the last axis module in the system. At all
other axis modules, the LAM DIP switch must be set to "0". 12
1 0
13
I 0 LAM
[1] [1]
F1 14
1 0 15
LAM
[2] 16
F1
17
18
19
20
1408127883
21
[1] Setting the LAM DIP switch on the last axis module of a system
[2] Setting the LAM DIP switch of all axis modules of a system except for the last axis module
22
• In this version, X9b does not require a terminating resistor.

I Startup
15 Description of the startup software
0
15.7 Description of the startup software

The MOVITOOLS® MotionStudio software package is the SEW engineering tool that
you can use to access all SEW drive units. For the MOVIAXIS® series, you can use
MOVITOOLS® MotionStudio for startup, parameter setting and diagnostics.
For information such as installation instructions and system prerequisites, refer to the
"MOVITOOLS® MotionStudio" manual.
15.7.1 MOVITOOLS® MotionStudio startup software

Once you have installed MOVITOOLS® MotionStudio, you will find the corresponding
entries in the WINDOWS start menu at the following path:
"Start\Programs\SEW\MOVITOOLS MotionStudio".
INFORMATION
For a detailed description of the following steps, please refer to the online help in
MOVITOOLS® MotionStudio or to the "MOVITOOLS® MotionStudio" manual.
1. Start MOVITOOLS® MotionStudio.
2. Configure communication channels.
3. Perform an online scan.

Startup I
Sequence in case of new startup
15
0
15.8 Sequence in case of new startup 1

There are two different variants for new startup:
2
• New startup without master module
• New startup with master module and MOVI-PLC®
3
15.8.1 New startup without master module 4

1. Startup
• Motor startup 5
• Controller setting
• User-defined units 6
• System and application limits
7
2. Standard application
• Technology editor for single-axis positioning (+ monitor)
8
3. Scope, recording of
• Currents 9
• Speeds
• Positions 10
• etc.
11
4. Data management
• Loading and saving data records of individual axes
12
15.8.2 New startup with master module and MOVI-PLC® 13

1. Drive startup for MOVI-PLC®
• Motor startup 14
• Controller setting
• User-defined units 15
• System and application limits
16
2. Scope, recording of
• Currents
17
• Speeds
• Positions 18
• etc.
3. Data management 19
• Loading and saving data records of individual axes
20
21
22

I Startup
15 Startup of MOVIAXIS® – single-motor operation
0
15.9 Startup of MOVIAXIS® – single-motor operation
INFORMATION
As a prerequisite for the startup procedure described below, MOVITOOLS® Motion-
Studio must be installed. Refer to the "MOVITOOLS® MotionStudio" manual for de-
tailed information.
MOVIAXIS® is started up using a startup wizard in MOVITOOLS® MotionStudio.
You can navigate through the startup wizard using the [Next] or [Back] buttons at the
bottom right of each window.
2542154379
15.9.1 MOVITOOLS® MotionStudio engineering software

MOVITOOLS® MotionStudio offers two ways for calling the startup wizard.
1. Calling the startup wizard by clicking on the [Startup] button.
2541303819

Startup I
®
Startup of MOVIAXIS – single-motor operation
15
0
2. Calling the startup wizard by right-clicking on the [Startup] entry in the "Project/net- 1
work" list.
2
6
2541306251
7
15.9.2 MOVIAXIS® startup
8
There are 3 parameter records available for startup, which can be assigned to 3 different
motors.
9
You can select the parameter set to be started up in the start menu for motor startup.
You can only startup one parameter set at a time, i.e. several parameters sets can only
be started up one after the other. 10
11
12
13
14
15
16
17
18
19
20
2542146187
21
22

I Startup
0
15.9.3 Unit information

This figure shows the current unit information.
The option cards that are plugged into the three possible slots are displayed.
2542163083
The card types of option cards inserted into the card slots are shown in this figure.
In this example:
• Slot 1: XGS encoder option SSI.
• Slot 2: Empty.
• Slot 3: Empty.

Startup I
®
15
0
15.9.4 Startup mode selection 1
7
2542248971
8
You have three options for startup in the selection menu:
• Complete startup: 9
This is the setting option for the initial startup. This part of the program stores the in-
formation for motor, speed controller as well as machine and system data. 10
INFORMATION
11
The following setting options "Optimize controller" and "Machine and system data" are
subprograms of the MOVIAXIS® MX startup. These setting options can be selected
and executed following a "complete startup" only. 12
• Optimization of the speed controller:
13
Direct selection of the startup submenu "Controller". Here, you can adjust or optimize
the controller settings. Direct selection only possible if initial startup has already been
performed. Description of the controller settings in chapter "Controller" (page 651). 14
• Machine and system data:
Direct selection of the startup submenu "Axis configuration". Here, you can adjust the
15
user-defined units and the system and application limits. For a description of the ma-
chine and system data, see chapter "Axis configuration" (page 658). 16
17
18
19
20
21
22

I Startup
0
15.9.5 System configuration – number of drives
2542315275
Option to select whether one or several motors are coupled with one load.
• Single-motor operation
Only one motor is connected to the servo inverter and coupled with a load.
• Multi-motor operation
Up to six identical motors can be connected to a servo inverter.
The servo inverter amplifies the torque and the current by the factor (the number) of
the connected motors.
The inductance is reduced by the factor of the motor connected in parallel.
The following prerequisites must be fulfilled:
• All motors must be of the same type and have the same winding properties
• All motors must be coupled with the load without mechanical slip
• One motor must be equipped with an encoder
• With synchronous servomotors, the magnetic fields of all rotors must be aligned
with each other. Contact SEW-EURODRIVE in such cases.
• Master/slave operation
Up to six identical motors are connected to one servo inverter each and coupled with
a shared load. The inertia of the load is distributed over the number of connected mo-
tors.
Depending on the rigidity of the connection between the load and the coupled mo-
tors, you must use the appropriate master/slave operating mode:
• For rigidly coupled motor/load combinations, the slaves must be operated in
"Torque control" mode.
• For non-rigidly coupled motor/load combinations, the slaves must be operated in
"Synchronous operation" mode.

Startup I
®
15
0
15.9.6 Electronic nameplate for SEW encoders 1

For motors with SEW encoders that have an electronic nameplate, you can select one
of the following options for loading data: 2
2542496523 8
• Load data permanently: 9

The motor data stored in the electronic nameplate is read out and used for the motor
startup. This data cannot be changed anymore. 10
• Load data as a suggestion:
11
The motor data stored in the electronic nameplate is read out and made available as
a "suggestion". This data can be changed.
• Do not load data:
12
The motor data stored in the electronic nameplate is ignored.
13
14
15
16
17
18
19
20
21
22

I Startup
0
15.9.7 Hardware configuration encoder pool
2543454603
During hardware configuration, the yellow-marked encoders displayed in the encoder

pool can be assigned to the individual parameter sets or motors.
In addition, the encoders can be assigned to the columns "Motor encoder", "Distance
encoder 1" and "Distance encoder 2". Each encoder can only be used once.
Assign an encoder as follows:
• Click on the required encoder in the "Encoder pool" selection field and hold the left
mouse button down to drag the encoder to the intended parameter set. In the above
example, encoder 1 of the type AV1H is defined as "Motor encoder".
Encoders in the "Motor encoder" column are always the "Actual speed" sources and
thus tachometers.
Only one encoder per parameter set can be used for position detection. The "Position
detection" checkbox must be ticked for the encoder used for position detection.
Each encoder in the columns "Motor encoder", "Distance encoder 1", or "Distance en-
coder 2" can be assigned for position detection.
In the above example, the encoder AV1H in the "Motor encoder" column is used for po-
sition detection.

Startup I
®
15
0
Displayed encod- The encoder pool can represent up to 3 physical encoder inputs of the MOVIAXIS® 1
ers of the encoder multi-axis servo inverter.
pool
A maximum of 2 multi-encoder option cards (XGH11A / XGS11A) can be plugged in. In 2
the example, only one multi-encoder option card is plugged in. Depending on the num-
ber of plugged multi-encoder option cards, the optional encoders 2 and 3 are displayed
in the encoder pool in addition to the encoder 1 of the basic unit. 3
Encoder 1 is always connected to the encoder input of the basic unit. Encoders 2 and 3
are always connected to the respective multi-encoder cards, see chapter "Application 4
examples" (page 662).
5
[Edit] button
Click on the [Edit] button to open the [Motor encoder] menu with the submenus [Encoder 6
selection] and [Mounting].
7
9
2543747339
10
[Encoder selection] submenu
11
12
13
14
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In the [Encoder selection] submenu, you can select encoders from three categories:
• SEW encoder
• Approved encoder
• Non-SEW encoder
[SEW encoder] The [Encoder selection] submenu shows [SEW encoder] as standard, see previous fig-
button ure (page 641).
In this menu, the SEW designations of the encoders are used.
You can define the encoder mounted to the motor using the following selection lists:
• Encoder type
• Mechanical design
• Development status
• Electrical design
The selectable criteria of the used encoder type are specified on the nameplate of the
motor.
[Approved Click the [Approved encoder] button to display a current list of all encoders approved by
encoder] button SEW-EURODRIVE.
2543866635
To select an encoder, highlight it and click on [OK].

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[Non-SEW Click on the [Non-SEW encoder] button to define encoder types that are not included in 1
encoder] button the SEW database.
2
2544151691
9
You can define the encoder mounted to the motor using the following selection lists:
• Mechanical design 10
• Electrical design
Then press the [Load basic data] button. This command automatically sets the values 11
in the fields "Number of periods/revolution" and "Denominator". You can also enter or
change these values manually. 12
13
14
15
16
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[Mounting] submenu
Enter the encoder counting direction and the speed ratio between the motor and en-
coder here.
2544359947
It is only necessary for encoders that are defined as distance encoders (encoders in the
"Distance encoder" column) to adjust the encoder counting direction and the speed ratio
between motor and encoder.
If the speed ratio is not known, it can be automatically determined in a "measurement
run", see menu item "Speed ratio between motor and encoder" (page 645).
If the encoder is defined as "Motor encoder", it is not possible to enter data, as the en-
coder is mounted directly to the motor shaft, which means there is no speed ratio be-
tween encoder and motor. The counting direction is also pre-determined, it is always
the direction of rotation of the motor.

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[Speed ratio mea- Click on the [Speed ratio measurement] button. 1

surement] button
2
10
11
2544396939
12
Perform points 1 – 4 for the measurement. You can abort the measurement by clicking
on [Abort measurement].
13
14
[Single-turn mode] Click on the [Activate single-turn mode] button.
button 15
16
17
2544744715
18
Now, single-turn encoders such as EK0H or resolvers such as RH1M are considered
like an absolute encoder for one encoder revolution.
19
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15.9.8 Hardware configuration option cards

Click on the [Encoder card slot 1] or [Encoder card slot 2] button, if a second encoder
card is plugged in.
2543454603
In the following submenu, the emulation sources and the encoder required for incremen-
tal encoder simulation are set.
Here, you can define how the encoder signals are to be conditioned for a higher-level
controller when using the encoder emulation.
2544784779

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The following settings are available for conditioning the signal of the selected encoder. 1
• Emulation source direct encoder 1
• Emulation source direct encoder 2 2
• Emulation source encoder 1
3
• With signal multiplication
• Increments per motor revolution
4
• Emulation source encoder 2
• With signal multiplication 5
• Increments per motor revolution
In the above example, encoder 2 is selected as "Emulation source direct". 6
7
INFORMATION
The emulation signal generated by the option card is always an incremental signal, in- 8
dependent of the used encoder types (even when using sin/cos encoders), either with
"Source direct" or "With signal multiplication".
9
INFORMATION 10
If a resolver is connected to the encoder input of the basic unit, it cannot be used as
"Emulation source direct". This is possible in connection with software emulation only. 11
12
13
2544875787 14
When you select "Emulation source encoder 1 or 2", the following settings can be made
in the "Increments per motor revolution" selection field: 15
64 / 128 / 256 / 512 / 1024 / 2048 / 4096.
The set PPR count or increments per motor revolution at the emulation output terminal
16
are independent of the PPR count of the connected encoder type.
17
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15.9.9 Motor type selection

In this menu, you can select the motor type that is to be operated on MOVIAXIS®. With
motors from SEW-EURODRIVE, the motor type is listed on the nameplate.
2545113227
When starting up non-SEW motors, you need the technical data of the non-SEW motor.
SEW-EURODRIVE can generate an XML file from this data. This file is then uploaded
to MOVIAXIS® in the "Non-SEW motor" menu. Please contact SEW-EURODRIVE for
this purpose.
15.9.10 Motor selection
2545115659
In the "Motor selection" menu, the motor data required for startup is set manually.

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This data is listed on the nameplate of the motor and can be read from there. The motor 1
connected to MOVIAXIS® is clearly identified when this data is entered.
INFORMATION 2
These settings can only be made if you have not selected "Load data permanently" in
the [Electronic nameplate] menu. 3
Setting the motor If you move the mouse cursor over the nameplate in the menu, an arrow will show you 4
data where you have to enter this value in the menu. Clicking on the buttons opens a pull-
down menu from which you can select the respective value.
5
10
11
12
13
14
2545179659
15
"Response to over-
temperature"
selection field 16
17
2545248139
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The following switch-off responses for motor overtemperature are possible:

Input data Description
Here you can set the switch-off response of the MOVIAXIS® MX multi-axis
servo inverter in case of a motor overtemperature. The following settings are
available:
• No response - Motor overtemperature is ignored.
• Display only - the error is only displayed in the 7-segment display; the axis
keeps on running.
• Output stage inhibit/pending - The axis switches to FCB controller inhibit
(motor coasts to a stop). The axis performs a "warm start" following a
"reset" (see chapter "Operating Mode Display" in the operating instruc-
tions). The reset time is reduced to a minimum because there is no booting
involved.
Response to overtemper- • Emergency stop/pending - The axis decelerates along the emergency
ature stop ramp. The axis performs a "warm start" following a "reset" (see chapter
"Operating Mode Display" in the operating instructions). The reset time is
reduced to a minimum because there is no booting involved.
• Stop at application limits/pending - The axis decelerates using the appli-
cation ramp. The axis performs a "warm start" following a "reset" (see chap-
ter "Operating Mode Display" in the operating instructions). The reset time
is reduced to a minimum because there is no booting involved.
• Stop at system limits/pending - The axis decelerates using the system
ramp. The axis performs a "warm start" following a "reset" (see chapter
"Operating Mode Display" in the operating instructions or system manual).
The reset time is reduced to a minimum because there is no booting
involved.
15.9.11 Monitoring
2545250571
INFORMATION
The value in the left column of the input menu is a recommendation, while the value
in the right column is the current value of the MOVIAXIS® MX multi-axis servo drive.
Click on
• "→" buttons to accept individual suggestions,
• the "Accept" button to accept all suggestions in one step.
• Enter the general MOVIAXIS® MX control parameters according to the following ta-
ble.

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1
The speed required by the setpoint can only be achieved if there is sufficient 2
torque available to meet the load requirements. Once the current limit has been
Speed monitoring and
reached, the MOVIAXIS® MX multi-axis servo drive assumes that the torque
deceleration time n-mon-
has reached its maximum value. The desired speed cannot be attained. Speed
itoring
monitoring is triggered if this situation continues throughout the duration of the
3
specified delay n-monitoring.
The current limitation refers to the apparent output current of the multi-axis
Current limit
servo drive.
4
5
15.9.12 Controller
In the [Controller] menu item, the data relevant for speed control is set.
6
10
11
12
13
14
2545377291
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Moments of inertia • J motor: Mass moment of inertia of the started up motor.

• J load: Mass moment of inertia of the load based on the motor shaft. If the mass mo-
ment of inertia of the load is not known, it can be determined automatically using
[Measure], see [Measure] button (page 651).
• J brake: Mass moment of inertia of the motor brake.
• Measure (only possible after complete startup): If you do not know the external load
inertia, you can perform a measurement run to determine it automatically. Click on
[Measure] and follow the three points in the submenu [Determine moment of iner-
tia/external mass].
2545453963
Time reference • Scanning frequency n/X control: Use this field to specify the required scanning fre-
quency of the speed or position controller. The default setting 1 ms should only be
shortened for extremely dynamic applications.
• Time interval external control: Enter the time interval of the external controller. This
value is required for all FCBs that generate a setpoint in an interpolated manner (ex-
ternal ramp generator) as well as for analog setpoint selection.
Note: The input value is not relevant for internal setpoint selection, e.g. FCB09 Posi-
tioning.
• PWM frequency: Enter the PulseWidth Modulation frequency here. The following
can be entered: 4 kHz (default setting), 8 kHz, 16 kHz.

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Controller optimi- • SEW suggestion: The control parameters preset by SEW can be accepted. Easiest 1
zation way of setting all control parameters.
2
2545637003 9
• Referring to 1: System type selection (load coupling with the drive). Options: "No
backlash" (e.g. directly coupled load), "Low backlash" (e.g. toothed belt coupling), 10
"With backlash" (tooth/gear connection or gear rack coupling). In most cases, the
basic settings can remain unchanged. 11
• Referring to 2: Use the sliders to set the backlash of the drive train. For fine-tuning
the control parameters based on the backlash of the load coupling and the re- 12
quired control stiffness. Is only necessary if the basic setting under point 1 is not
sufficient.
13
• Use the "Clearance of load" slider to set the clearance of the drive train.
• Use the "Stiffness" slider to set the stiffness of the speed controller. The value
14
for the stiffness depends on the power transmission (direct drive high, toothed
belt low) and is a measure for the velocity of the speed control loop. The value
for the standard setting is 1. 15
You enter the stiffness of the speed control loop either with the sliding scale or
the input field. 16
If you increase the stiffness value, you will also increase the control rate. SEW-
EURODRIVE recommends to increase the value during startup in small incre- 17
ments (0.05) until the control loop starts oscillating (motor noise). You will then
have to lower the value. This approach ensures an optimum setting.
18
• Referring to 3: For fine-tuning during the test run.
[Download once] button: The control parameters are only downloaded once. 19
[Download permanent] button: The control parameters are downloaded each time
the load backlash or the stiffness change. Indicated by a green progress bar. 20
21
22

I Startup
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Note: When selecting [Download once] or [Download permanent], all parameters

listed in the [Controller] menus are downloaded.
• Tabular: The control parameters preset by SEW-EURODRIVE can be accepted or
optimized. Direct adjustment or optimization of the individual control parameters
should only be performed by an expert.
2546150155
• Referring to 1: Settings made with the sliders "Clearance of load" and "Stiffness"
only affect the suggested values. If you want to accept the suggested values, click
on the [Download permanent] or [Download once] button. Only now, your entries
have become active.
• Referring to 2:
Position (x)
Gain Setting value for the P controller of the position control loop.
Setpoint filter Setpoint value is filtered, stepped setpoints can be smoothed.
Setpoint cycle cont. Time interval of external controller.
Velocity (v)
Gain Gain factor of the P-component.
Integration time constant of the speed controller. The I-component reacts
Integrative time inversely proportionate to the time constant, i.e. a large numerical value results
in a small I-component, although 0 = no I-component.
Speed setpoint is filtered, graduated setpoint entry or interfering impulses at
Setpoint filter
analog input can be smoothed.
Actual value filter Filter time constant of the actual speed value filter.
Precontrol Gain factor of the P-component of the speed controller.
Acceleration (a)
Precontrol filter Filter time constant of acceleration precontrol.
Amplification factor of acceleration precontrol. It improves the control response
Precontrol
of the speed controller.

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• Referring to 3: For fine-tuning during the test run. 1

the load backlash or the stiffness change. Indicated by a green progress bar. 2
[Download once] button: The control parameters are downloaded only once.
• Structural diagram: In the [Complete block diagram] submenu, you can set all pa- 3
rameters relevant for control (speed control, position control, acceleration). Direct
adjustment or optimization of the individual control parameters should only be per- 4
formed by an expert.
10
11
12
2546306187
The control symbols with a gray background in the submenus "Speed controller" and
13
"Position controller" are not active.
14
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• Simulation: Here, a virtual load shock (torque step change of the load) from 0 Nm
to M0 (standstill torque of the motor) is used to simulate the extent of the speed de-
viation and position deviation from the specified setpoints.
2546384907
• Referring to 2: For fine-tuning the control parameters based on the backlash of

the load coupling and the required control stiffness, see section "Controller opti-
mization" (page 653).
• Referring to 3: For fine-tuning during the test run.
the load backlash or the stiffness change. Indicated by a green progress bar.
[Download once] button: The control parameters are downloaded only once.

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Clicking on the [Simulation] button opens the [Axis settles] submenu. 1
10
11
2546899083
Depending on whether you select the [Speed controller] or [Position controller] tab, you 12
can read off the speed or position deviation against time. Use the mouse to move the
green line across the time axis.
13
You can choose system or user-defined units for the illustration.
Here, too, you can use the sliders for fine-tuning the control parameters based on the 14
backlash of the load coupling and the required control stiffness.
The maximum and minimum speed and position deviation is listed in the table in the bot- 15
tom right corner of the menu.
16
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18
2548223755
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15.9.13 Axis configuration

In this menu, you can set the user-defined units.
2548226443
MOVIAXIS® offers four user-defined units for the following variables:

• Travel distance,
• Velocity,
• Acceleration,
• Torque (not in motor startup → parameter tree).
A numerator, denominator and the decimal places for each variable are loaded to the
axis module. The decimal places are only needed for display in the MotionStudio. They
are neither used for converting user-defined units nor for bus communication.
[Basic configuration] button
• Distance
Unit: Rotations (of the motor), 4 decimal positions
Example:
Setpoint Traveled distance Display in MotionStudio
10000 1 motor revolution 1.0000
15000 1.5 motor revolutions 1.5000
Once motor startup has been executed, the following values are written to the axis
module (conversion 16-bit increments/revolution):
• User-defined unit of position numerator = 4096
• User-defined unit of position denominator = 625
• User-defined unit of position resolution = 10-4
• Velocity
Unit: rpm, no decimal places
Example:
Setpoint Velocity Display in MotionStudio
1000000 1000 rpm 1000

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Setpoint Velocity Display in MotionStudio 1

2345000 2345 rpm 2345
Once motor startup has been executed, the following values are written to the axis 2
module:
• User-defined unit of velocity numerator = 1000 3
• User-defined unit of velocity denominator = 1
• User-defined unit of velocity resolution = 1
4
5
• Acceleration
Unit: 1/(min × s) speed change per second, no decimal places 6
Example:
Setpoint Acceleration Display in MotionStudio 7
6500000 65000 1/(min × s) 65000
300000 3000 1/(min × s) 3000 8
Once motor startup has been executed, the following values are written to the axis
module: 9
• User-defined unit of acceleration numerator = 100
• User-defined unit of acceleration denominator = 1
10
• User-defined unit of acceleration resolution = 1
11
12
Example Spindle application – a rotary movement is converted into a linear movement.
Specification of user-defined units:
13
• Position in mm with one decimal place (e.g. 25.6 mm)
• Velocity in mm/s with no decimal place (e.g. 5 mm/s) 14
2 2
• Acceleration in mm/s with two decimal places (e.g. 10 mm/s )
15
16
17
18
19
20
21
22
2548231819
Procedure:

I Startup
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Position
• Use the mouse to drag the spindle icon from the unit pool to the drive train in the
"Travel distance" row.
• Set the user-defined units in the "Travel distance" row to 1 decimal place.
• Click on the spindle icon. In the [Settings] window that opens now, you can enter the
spindle pitch.
Velocity
• Use the mouse to drag the spindle icon from the unit pool to the drive train in the "Ve-
locity" row.
• Set the user-defined units in the "Velocity" row to no decimal places.
Acceleration
• Use the mouse to drag the spindle icon from the unit pool to the drive train in the "Ac-
celeration" row.
• Set the user-defined units in the "Acceleration" row to 2 decimal places.

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15.9.14 Application and system limit values 1
9
2548418699
10
The application and machine limit values refer to the set user-defined units. The user-
specified units selected previously are shown in the illustration and cannot be altered.
11
The fields on the right refer to the download value in the axis, converted to the user-
specified unit. The fields on the left are calculated suggestions of the program.
Click on the "Accept SEW suggestion" to use the suggested values.
12
13
15.9.15 Download
14
15
16
17
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20
2548421131
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15.10 Application examples

15.10.1 Example 1: Rotary encoder as distance encoder
Areas of application: E.g. non-linear transmission elements, such as crank arms, flying
saws, master value axes, such as electronic cams.
In this example, the position actual value of the absolute encoder designated as encoder
2 is used directly for position control. The encoder ratio between the motor encoder (en-
coder 1) and distance encoder (encoder 2) must be set during startup. In this example,
the encoder ratio between encoder 1 and encoder 2 is "1:5". The encoder ratio between
encoder 1 and encoder 2 is determined automatically by running the drives in the sys-
tem. It can also be calculated and entered manually.
1409350283
Settings:
2553344907

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10
11
12
2553348107
Selection and settings of the encoder type. 13
14
15
16
17
18
19
20
2557571595
21
Setting the ratio between encoder revolutions and motor revolutions directly, i.e. after
calculation or by running the system.
22

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For rotary encoders, the ratio between encoder and motor revolutions cannot be deter-
mined or entered in the [Axis configuration] menu. This is only possible in the [Encoder
selection] menu, submenu [Mounting], see chapter "Hardware configuration encoder
pool" (page 640).
15.10.2 Example 2: Linear encoder as position encoder

Areas of application for such a setup are, for example, storage and retrieval systems
(due to the slip of the carrying wheels) and systems with backlash.
The travel distance of the linear distance encoder must be entered for one motor revo-
lution. The travel distance for one motor revolution is determined automatically, but it
can also be calculated and entered manually.
d=200mm
1409436811

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Application examples
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Settings: 1
Selection and settings of the used encoder type using the example of the AL1H linear
encoder. 2
10
2557574539
11
Encoder 2 must be set up for position detection.
12
13
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2557576971
Selection and settings of the used AL1H encoder.

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Determining the ratio between motor and encoder.

In the [Axis configuration] menu, the required user-defined units are set and the drive
train is emulated. For the emulation of the drive train, select the required icons in the
[Unit pool] menu and drag them to the "Travel distance" row.
Selection and settings of the used AL1H encoder.

Configuration of the axis.
2557633803
Click on the "Encoder 2 AL1H" icon to enter the "Travel distance on encoder per motor
revolution". It is possible to enter the travel distance directly after calculating it manually,
or to determine it by moving the system or by selecting "Automatic detection". In this ex-
ample, the "Travel distance on the encoder per motor revolution" is 62831 µm.

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MOVIAXIS startup – multi-motor operation
15
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15.11 MOVIAXIS® startup – multi-motor operation 1
2
INFORMATION
In this section, the startup menus are described which require special settings for
multi-motor operation.
3
The overall startup is performed as described in chapter "MOVIAXIS® startup - single-
motor operation" (page 634).
4
5
Multi-motor operation requires one or two multi-encoder cards, depending on the num-
ber of motors that are to be operated. 6
Multi-encoder cards expand the MOVIAXIS® system for evaluation of additional encod-
ers. Two different multi-encoder cards are available. They have to be selected according 7
to the encoder that is to be evaluated.
8
15.11.1 Areas of application
The multi-encoder card can be used for the following areas of application: 9
• Positioning either directly with the external encoder or with the motor encoder
10
• Multi-motor operation (max. 3 motors)
• SSI absolute encoder evaluation
11
• Operation of non-SEW motors that are equipped with EnDat encoders
• Systems with slip 12
• Compensation of rope and belt elongation
• Reading in the master value of cams and synchronous operation systems 13
• Analog setpoint specification and incremental encoder simulation of the actual posi-
tion to the controller 14
• General use of the differential analog input ±10 V, e.g. for specifying speed or torque
setpoints. 15
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15 MOVIAXIS® startup – multi-motor operation
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15.11.2 Example: Multi-motor operation

Application: In applications with several axes, which have the same output torque and
which are not operated at the same time.
Up to 3 motors can be connected to one axis module For this purpose, 2 additional multi-
encoder cards must be plugged into the axis module, see following figure. Depending
on the activated parameter set, power must be connected to the individual motors via
power contactors.
[1]
[2]
[3]
2557636363
[1] Motor encoder 1 to basic unit

[2] Motor encoder 2, multi-encoder card 1, slot 1
[3] Motor encoder 3, multi-encoder card 2, slot 3

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MOVIAXIS startup – multi-motor operation
15
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2557639307 10
For encoder 1, set "Position detection" for parameter set 1
11
12
The individual parameter sets can only be started up one after another, and only after
the complete startup procedure has been performed.
13
The individual parameter sets can be selected via parameters, please refer to the pa-
rameter description in the "MOVIAXIS® Multi-Axis Servo Inverter" system manual.
14
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15.12 PDO Editor

Use the PDO Editor to set the process data.
15.12.1 Structure and data flow

You can write setpoints, such as velocity or position, as 16-bit wide process data into
the PD-IN buffer of MOVIAXIS® via a bus system, e.g. a fieldbus. You can specify these
setpoints in freely definable user-specific units, e.g.
• m/s
• mm
• Cycles/min]
MOVIAXIS
Control word Status word
W0 (16 Bit) W0 (16 Bit)
W1 (16 Bit)
System W1 (16 Bit)
management
W2 (16 Bit) W2 (16 Bit)
W3 (16 Bit) W3 (16 Bit)
PD-IN buffer PD-IN channel FCB pool PD-OUT channel PD-OUT buffer
W0 (16 Bit) DW0 (32 Bit) DW0 (32 Bit) DW0 (32 Bit)
FCB...
. .
. . FCB... FCB... . .
. FCB... .
Bus . Convesion: FCB... Conversion: . Bus
. User-defined units System units into .
.
.
into system units user-defined units .
.
. .
. .
W15 (16 Bit) DW15 (32 Bit) DW15 (32 Bit) DW15 (32 Bit)
Example
PD-IN buffer PD-IN channel

W0 (16 Bit) DW0 (32 Bit)
W1 (16 Bit) low high Little Endian (Intel format)
.
.
.
.
.
.
W14 (16 Bit) low high Big Endian (Motorola format)
W15 (16 Bit) DW15 (32 Bit)
1409533067
These process data are further processed as double word depending on how the sub-
sequent PD-IN channel is configured. The user-defined units are converted into system
units and transferred to the relevant FCBs. MOVIAXIS® offers 16 PD-IN channels.
Depending on the process data configuration, actual values such as speed and position
can be converted into user-specified units via sixteen 32-bit wide PD-OUT channels and
are transferred to the connected bus system via 16 process data buffers.

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Information on the status of the axis, such as 1

• Ready
• Motor standstill 2
• Brake released
3
can also be written to a process data word of the PD-OUT buffer via a status word. The
information can also be processed by a higher-level controller via the connected bus.
4
Four configurable status words are available (page 670).
5
15.12.2 Parameter setting example
This example shows how to set the parameters of a PROFIBUS connection for speed 6
control.
Setting the fieldbus A mouse-click on an IN buffer opens its configuration interface. The communication op-
7
interface parame- tion is selected as data source for a PROFIBUS connection.
ters
The following three process data words are used in the example: 8
• FCB activation
9
• Ramp
• Speed. 10
To being able to test the example without PROFIBUS, the update function is first set to
off. The configuration interface for these settings looks as follows:
11
12
13
14
15
16
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1409535499
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15 PDO Editor
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Setting the param- A single click on one of the control words, in the example control word1, opens the con-
eters of the control figuration interface and selects the FCB/instance layout. The IN process data channel 0
word and the IN is assigned the system variable "Velocity", and channel 1 is assigned the system vari-
process data able "Acceleration".
1409709451

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Assigning the input Next, the words of the IN buffer must be assigned to the control word 1 and the IN pro- 1
buffer to the sys- cess data.
tem variables
In the example, the first word of the IN buffer is assigned the FCB number, the second 2
word is assigned the speed, and the third word the ramp. You can assign the respective
words using drag & drop.
3
10
11
12
1409711883
13
Setting the FCB Clicking "FCB" opens the parameterization interface of the FCBs. To being able to con-
parameters trol the speed controller via fieldbus, the setpoint sources for velocity and acceleration
14
values are set to process data buffer channel 0 or channel 1 in the FCB05.
15
16
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1409714315 21
22

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15 Parameter list
0
Testing the config- The configuration is now complete and can be tested. You can change the words in the
urations detail view using the keyboard as long as the IN buffer update is disabled.
1409716747
The words are automatically updated with the values of the bus as soon as the update
function is activated (page 671).
INFORMATION
The update function is automatically enabled when the servo inverter is restarted and
has to be disabled, if required.
15.13 Parameter list

For a parameter list with descriptions, refer to chapter "Parameter description"
(page 232) or the PDF file "Parameter description of MOVIAXIS® multi-axis servo in-
verter" on the SEW website.

Operation
General information
16
16 Operation 1
2
DANGER
Dangerous voltages at cables and motor terminals 3
• When the unit switch is in the ON position, dangerous voltages are present at the 4
output terminals as well as any connected cables and motor terminals. This applies
even when the unit is inhibited and the motor is at standstill. 5
• The fact that the operation LED is no longer illuminated does not indicate that the
MOVIAXIS® multi-axis servo drive is no longer connected to the supply system and
is de-energized. 6
• Before you touch the power terminals, check to see that the MOVIAXIS® multi-axis
servo drive has been disconnected from the supply system.
• Observe the general safety notes in chapter 2 (page 486) and the notes in chapter 7
"Electrical Installation" (page 538).
8
DANGER 9
Risk of crushing if the motor starts up unintentionally.
Severe or fatal injuries. 10
Mechanical blocking or internal safety functions of the unit can cause a motor stand-
still. Eliminating the cause of the problem or performing a reset may result in the drive 11
re-starting automatically.
• Ensure that the motor cannot start inadvertently, for example, by removing the 12
electronics terminal block X10.
• Additional safety precautions must be taken depending on the application to avoid
injury to people and damage to machinery. 13
14
NOTICE
The motor output of the multi-axis servo inverter may only be switched or discon- 15
nected when the output stage is inhibited.
16
17
18
19
20
21
22

Operation
16 Displays of the supply and axis modules
16.2 Displays of the supply and axis modules

16.2.1 Operating display of the 7-segment display
• The two 7-segment displays indicate the operating state of the power supply mod-
ules and axis modules.
• All settings and functions relating to startup of the axis system are located in the axis
module. That is the reason for more operating displays in the axis module than in the
power supply module. The power supply module is not equipped with any program-
mable intelligence.
• Responses to detected errors and warnings take place in the axis module only. The
error and warnings are, however, displayed in the axis module and to some extent
in the power supply module. For some events, other numbers may be displayed in
the axis module than in the power supply module. These events are marked in the
operating display table of the power supply module.
• The displays for the axis modules and the power supply modules are therefore de-
scribed separately.
16.2.2 Error display of the 7-segment display

The MOVIAXIS® multi-axis servo inverter detects any errors that occur and displays
them as error code. Each error is clearly defined by its error code and corresponding
attributes, such as
• the error response,
• the final status after executing the error response,
• the type of reset response.
Error message The error codes are indicated as flashing numeric values in the axis and power supply
with two 7-seg- module.
ment displays
The error code is displayed in the following display sequence:
0.5 s 0.25 s 1.0 s 0.25 s
1409738251
In addition to the error code, a "sub-error code" has been defined to further localize the
reason for the error. The "sub-error code" can be read by the operator via the commu-
nication connection.
The display can jump back to the statistical operation display depending on the type of
error and the response programmed for an error.
Errors in the power Errors in the power supply module are reported to the axis and processed by the axis.
supply module
You execute a reset by interrupting the 24V electronics supply or via the software.

Operation
Displays of the supply and axis modules
16
16.2.3 Error list 1

Explanation of
terms used in the 2
Terms and abbreviations Meaning
error lists
P Programmable error response
D Default error response set at the factory 3
VM Power supply module
AM Axis module 4
ZK DC link
HW Hardware 5
SW Software
AWE User unit 6
The final error status determines which reset type will be executed in case of a fault re-
set, see following table. 7
Final fault status Responses to error acknowledgement 8

Display error only Warm start (delete fault code)
System is waiting Warm start (delete fault code) 9
System is blocked System restart (execute soft reset)
System is blocked CPU reset (execute CPU reset) 10
16.2.4 Responses to error acknowledgement 11

CPU reset A true restart of the microcontroller and the firmware will take place in case of a CPU
reset. The firmware system is started as though a new axis module has been connected 12
to the network.
A restart of the system has the following effects: 13
• the bootstrap loader will be activated, "b0" will appear in the display,
• reference positions of incremental encoder systems will be lost, 14
• any existing fieldbus interfaces will be reset,
15
• any existing control options will be reset,
• fieldbus communication will be interrupted,
16
• The interface between options and firmware system is initialized again A new boot
synchronization to the fieldbus or control option takes place.
17
• communication via CAN interfaces of the system will be interrupted,
• connection to the power supply module will be synchronized again (hardware infor- 18
mation system),
• The active "fault message" is reset [digital output = 1, system status = 0]. 19
The ready signal will be reset by the system status control after the reset by the system
status control. 20
21
22

Operation
16 Displays of the supply and axis modules
System restart There will be no true reset of the microcontroller with a system restart.
The system restart has the following results:
• the firmware will be restarted, without the boot loader becoming active (no display
"b0" !)
• reference positions of incremental encoder systems will be lost,
• any existing fieldbus interfaces are not affected,
• any existing control options are not affected,
• The interface between options and firmware system is initialized again A new boot
synchronization to the fieldbus or control option takes place.
• communication via CAN interfaces of the system will be interrupted,
• connection to the power supply module will be synchronized again (hardware infor-
mation system),
• The active "fault message" is reset [digital output = 1, system status = 0].
The ready signal will be reset by the system status control after the reset by the system
status control.
Warm start A warm start only resets the fault code.

The warm start has the following effects:
• The firmware system is not rebooted
• all reference positions will be maintained,
• Communication is not interrupted
• The active "fault message" is reset [digital output = 1, system status = 0].

Operation
Operating displays and errors of the MXP power supply module
16
16.3 Operating displays and errors of the MXP power supply module 1
16.3.1 Table of displays
2
Display on
Description Status Comment / action the axis mod-
ule
3
Displays during standard operation
Ready for operation (ready) No error/warning. VZ = > 100 V Status display only. -
4
Displays of different unit states
DC link voltage missing or less
No error/warning. VZ = > 100 V Check supply system. X
5
than 100 V.
Displays in case of warnings
6
Utilization of the power supply module Check application regarding uti-
I2xt prewarning. P
has reached the prewarning level. lization.
The temperature of the power supply Check application regarding uti- 7
Temperature prewarning. module is approaching the cut-off lization, check ambient temper- P
threshold. ature.
Prewarning: Utilization of inter- Check unit utilization / project
8
Unit is ready for operation -
nal braking resistor ≥ 80% planning. Affects only MXP81.
9
16.3.2 Table of errors
10
Display on
Description Status Comment / action the axis mod-
ule
11
Displays in case of an error
Brake chopper is not ready for

Error brake chopper.
operation.
See error list of axis modules. X 12
Error message by SM via signaling
Error excessive ZK voltage Check application design and braking
Uz.
bus when DC link voltage is too
resistor.
X 13
high.
The DC link current in the power
Error excessive ZK current. supply module has exceeded the Check application regarding utilization. X 14
maximum limit of 250% Inominal.
Utilization of the power supply
Error I2xt monitoring. module has reached the limit Check application regarding utilization. X 15
value.
Temperature of the power supply
Error temperature monitor- Check application regarding utilization,
ing.
module has reached the switch-off
check ambient temperature.
X 16
threshold.
Switch-off due to internal The unit is not ready for operation Check unit utilization / project planning.
braking resistor overload any longer Affects only MXP81.
x 17
Error voltage supply
A supply voltage inside the unit is Check connected loads for overcurrent
(switched-mode power -
supply module inside unit).
defective. or unit for defects. 18
Additional capacity at full capacity.
Braking resistor converters regenerative
Thermal overload of the Error response only depending on
additional capacity the settings made for the axis mod-
energy into heat. Check unit utilization / x 19
project planning. Affects only MXP81.
ules.
Error voltage supply
(switched-mode power
A supply voltage inside the unit is Check connected loads for overcurrent
-
20
defective. or unit for defects.
supply module inside unit).
21
22

Operation
16 Operating displays and errors of MXA axis module
16.4 Operating displays and errors of MXA axis module

16.4.1 Table of displays
Description State Comment / action
Displays during boot process
Unit passes through several

• Status: Not ready.
states when loading the firm- • Waiting for boot process to finish.
• Output stage is inhibited.
ware (boot) to get ready for • Unit stays in this condition: Unit defective.
• No communication possible.
operation.
Displays of different unit states
DC link voltage missing Check supply system.
Power supply module not

Check power supply module.
ready for operation.
Axis module 24 V or internal
switched-mode power supply
24 V check or unit defective.
module of axis not ready for
operation.
Axis module in safe stop. • Status: Not ready. Safety function activated.
• Output stage is inhibited.
Flashing
• Communication is possible.
• Check bus connection.
• Check synchronization setting at unit and
Incorrect synchronization with
controller.
bus. Process data processing
• Check process data settings at unit and con-
not available.
troller.
• Check for missing PDO.
• Encoders are initialized.
• Unit stays in this condition:
The encoder evaluation is not • No encoder selected.
ready. • "Source of actual speed" or "Actual posi-
Flashing
tion" parameters show an encoder that
does not exist.
Displays during initialization processes (parameters will be reset to default values)
Basic initialization.
Initialization of delivery state.
• Status: Not ready.

Initialization of factory setting. • Output stage is inhibited. Waiting for initialization to finish.
• Communication is possible.
Initialization of customer-spe-
cific set 1.
Initialization of customer-spe-
cific set 2.

Operation
Operating displays and errors of MXA axis module
16
Description State Comment / action 1

Displays during standard operation
The drive is not actuated by the output stage.
The brake is applied; without brake the motor 2
Output stage inhibit • Output stage is inhibited. coasts to a halt. This FCB is permanently
selected with terminal DI00. But it can be addi-
tionally selected by other sources. 3
Unassigned
4
Unassigned
5
Unassigned
6
n-control (speed control) Speed control with internal ramp generator.
Speed control with setpoints cyclically via bus.

Interpolated n-control The ramp generator is located externally, e.g. in 7
the higher-level controller.
M-control (torque control) Torque control 8
Interpolated M-control Torque control with setpoints cyclically via bus. 9

Position control Positioning mode with internal ramp generator.
10
Positioning mode with setpoints cyclically via
Interpolated position control bus. The ramp generator is located externally,
e.g. in the higher-level controller. 11
Reference travel The drive performs reference travel.
12
Deceleration at application limit. This FCB also
Stop For further information refer to the becomes active if no other FCB is selected as
MOVIAXIS parameter description® default FCB.
13
Emergency stop Deceleration at emergency stop limit.
14
Stop at system limit Deceleration at system limit.
Electronic cam Electronic cam active. 15
Synchronous operation Synchronous operation active. 16
Calibrate incremental encoder Encoder commutation for synchronous motors. 17
Hold control Position control at current position.

18
Jog mode Jog mode active.
19
Brake is tested by applying torque while brake is
Brake test
closed.
Is used to operate 2, 3 or 4 motors in interpo-
20
Multi-drive
lated speed control mode.
Rotor position identification

Is used for communication detection of synchro- 21
nous motors.
Stop at user limits Is used for stopping at user limits. 22

Operation
16.4.2 Table of errors
INFORMATION
Errors or sub-error codes, which are not included in the following list, can be displayed
within the framework of displayed errors. In this case, contact SEW-EURODRIVE.
A “P” in the column “Error response” indicates that the response is programmable. The
factory set error response is listed in the column “Error response.”
The following abbreviations are used for the module designations:
• “AM” for axis module
• “SM” for power supply module
Sub
Error Error System status
error Digital output
Measure
Code Response message1)
Code Signal Cause 2) Reset type
No error (this display Ready = 1

is an operating display (depending on
00 --- --- --- --- system state)
-> see operating dis-
plays) Fault = 1
• Output short circuit Output System waiting Ready = 1
01 “Overcurrent” error • Motor too large stage
• Defective output stage inhibit Warm start Fault = 0
The error is an additional kind of over-
current, measured at the collector-
Output System waiting Ready = 1
“UCE monitoring” emitter voltage of the output stage.
02 stage
error The possible cause of the error is Warm start Fault = 0
inhibit
identical with error 01. The distinction
serves only for internal purposes.
Ground fault
Output System blocked Ready = 0
03 “Ground fault” error • in the motor cable stage
• in the inverter inhibit System restart Fault = 0
• in the motor
Error message by power supply mod-
ule via signaling bus.
• Too much regenerative power Output
• Braking resistor circuit interrupted stage System waiting Ready = 1
04 “Brake chopper” error
• Short circuit in the braking resis- inhibit Warm start Fault = 0
tor circuit
• Braking resistance too high
• Brake chopper defective
The connection between power sup- Output System blocked Ready = 0
“Timeout HW info sys-
05 ply module and axis module via sig- stage
tem” error System restart Fault = 0
naling bus has been interrupted inhibit
Connection to signaling bus inter-
01
rupted
Signaling bus timeout flag cannot be
02
reset
Error message by power supply mod-
“Line phase failure” Display
06 ule via signaling bus. A missing line ------------
error only
phase was detected.
Error message by power supply mod- Output System waiting Ready = 1
07 “DC link” error ule via signaling bus when DC link stage
voltage is too high inhibit Warm start Fault = 0

Operation
16
Error
Sub
Error System status
1
Measure
Code Signal Cause 2) Reset type 2
Active speed monitoring has detected Output System waiting Ready = 1
“Speed monitoring”
08 an unacceptable deviation between stage
error
setpoint and actual speed inhibit Warm start Fault = 0 3
01 Motor speed monitoring
02 Regenerative speed monitoring
4
03 System limit actual speed exceeded
The temperature of the AM has
reached or exceeded the switch-off
Shutdown 5
threshold. Possible reasons:
with emer- Ready = 1
“AM overtempera- • Ambient temperature too high
11 gency stop System waiting
ture” error • Unfavorable air convection
• Fan is defective
delay (D), Warm start Fault = 0 6
(P)
• Medium capacity utilization too
high
Limit of heat sink temperature
7
01
exceeded.
02
The electronics’ second temperature
sensor signals overtemperature
8
The electronics’ second temperature
12 sensor signals overtemperature pre-
warning.
9
• No brake connected
• Brake cable disconnected in “on”
status
10
• Overload through overcurrent >
2A (F13 has priority) Output System waiting Ready = 1
12 “Brake output” error • Overload due to excessive con- stage Warm start Fault = 0
11
nection (approx. > 0.5 Hz) inhibit
Monitoring is only active with parame-
ter settings “Brake installed” and 12
“Brake applied.”
01 Brake output
13
Brake supply voltage not within toler-
ance range of +10/-0%. Monitoring Output System waiting Ready = 1
13 “Brake supply” error only possible with parameter settings stage
“Brake installed” and “Brake applied” inhibit Warm start Fault = 0 14
as well as with CMP and DS motors.
01 Brake supply voltage
15
Error with resolver or resolver evalua-
14 “Resolver” error stage
tion. System restart Fault = 0
inhibit
16
01 Wire break detection resolver
Emulation error resolver (excessive
02
speed) 17
Invalid period of synchronization sig-
03
nal
04 Failure of synchronization signal 18
05 Faulty parameters set for DSP
06 Overload at AD converter input
19
07 PLL could not be initialized
08 CRC error via data flash (X-flash)
09 CRC error via program flash (P-flash) 20
10 CRC error via program flash (P-flash)
11 DSP watchdog has tripped
21
12 Invalid instruction in DSP
13 Unexpected interrupt in DSP
14 Software interrupt in DSP 22
15 Hardware stack overflow in DSP
16 ONCE trap in DSP
17 Interrupt A in DSP

Operation
Sub
Measure
18 Interrupt B in DSP
19 Invalid angle during calibration
20 Error deleting flash during calibration
Error programming flash during cali-
21
bration
22 Error verifying flash during calibration
23 Resolver evaluation is not calibrated
24 PLL has locked during operation
Init phase of DSP not finished within
256
permitted time period
Ready signal of DSP not within per-
267
mitted time period
Protection against division overflow
by limiting the actual speed Set the correct system
512
numerator/denominator
values
“Absolute encoder” An error has occurred in the check-
15 stage
error sum of the Hiperface signals. System restart Fault = 0
inhibit
• Check track signal wir-
Comparison of the absolute encoder ing
position (via Hiperface® parameter • Check interference
01
channel) with the incremental position sources
of the axis every second. • Replace encoder
• Replace card
Clarify if this encoder may
02 Unknown encoder type
Encoder input of basic be used
unit Encoder nameplate data corrupt
03 BlockCheck sum via encoder manu- Replace encoder
facturer’s data field range is incorrect.
Encoder® signals internal error.
• Check wiring and inter-
32 – The error code is displayed as fol- ference sources
67 lows: [displayed value] -32. Please • Otherwise: replace
contact SEW-EURODRIVE for further encoder
information.

Operation
16
Error
Sub
Error System status
1
Measure
• SSI encoder: Voltage dip at in • Check voltage supply
voltage supply (12 V) to SSI encoder
• SSI encoder signals error via set • Check settings of SSI 3
256 error bit in SSI protocol encoder (via error bit)
• Check wiring
• Check interference 4
sources
• Replace encoder
SSI encoder: Interrupted clock or • Check wiring 5
data line • Check interference
source and supply volt-
257 age 6
• Check startup parame-
ters
• Replace encoder
7
SSI encoder: Position not within toler- • Check interference
ance range sources (interrupted
beam, reflectors, data
258
cables, etc.) 8
ters
SSI encoder: SSI pulse train does not • Increase SSI cycle fre- 9
match speed sampling interval quency
259
ters 10
SSI encoder: User-defined errors via • SSI encoder reports
fault mask errors, see encoder
Encoder input of basic 260 data sheet 11
unit • Check startup parame-
ters
261
SSI encoder: No high level present • Check wiring 12
• Replace encoder
Comparison between raw position • Check track signal wir-
and track counter for EnDat encoder ing 13
faulty • Check interference
513
sources
• Replace encoder 14
• Replace card
EnDat parameters measuring step is • It may not be possible
514
invalid to use the EnDat 15
encoder type.
• Replace encoder
EnDat parameters PPR count is • It may not be possible 16
invalid to use the EnDat
515
encoder type.
• Replace encoder
17
EnDat parameters multi-turn is invalid • It may not be possible
to use the EnDat
516
encoder type.
• Replace encoder 18
EnDat encoder signals error status. • Replace encoder
Error codes are listed in the EnDat
544 –
protocol description EnDat error 19
575
code = subcode - 544 or subcode -
4640 or subcode - 8736
20
21
22

Operation
Sub
Measure
Encoder option 1 • Check track signal wir-

position (via Hiperface® parameter • Check interference
4097
• Replace card
Encoder nameplate data corrupt Replace encoder
4099 BlockCheck sum via encoder manu-
Hiperface® encoder signals internal
error. • Check wiring and inter-
4128
The error code is displayed as fol- ference sources
–
• Otherwise: replace
4163 lows: [displayed value] -4128. Please
contact SEW-EURODRIVE for further encoder
information.
SSI encoder option 1: Voltage dip at Check voltage supply to
4352
in voltage supply (12 V) SSI encoder
SSI encoder option 1: Interrupted Check connection to SSI
4353
clock or data line encoder
SSI encoder option 1: Position not Minimize interference
4354
within tolerance range
SSI encoder option 1: SSI pulse train Set a higher cycle fre-
4355 does not match speed sampling inter- quency
val
SSI encoder option 1: User-defined
4356
errors via fault mask
SSI encoder option 1: No high level Replace option card or
4357
present encoder
Faulty comparison between raw posi-
4609 tion and check counter with EnDat
encoder
4610 Incorrect EEPROM values in encoder
Encoder option 1
EnDat encoder signals error status.
4640 The error code is displayed as fol-
– lows: [displayed value] - 5640. Error
4671 codes are listed in the EnDat protocol
description.
EnDat encoder signals internal warn-
4672
ing

Operation
16
Error
Sub
Error System status
1
Measure
• Check track signal wir-
8193
position (via Hiperface® parameter • Check interference 3
• Replace card 4
Encoder nameplate data corrupt Replace encoder
8195 BlockCheck sum via encoder manu- 5
Hiperface® encoder signals internal
8224
error. • Check wiring and inter- 6
The error code is displayed as fol- ference sources
–
• Otherwise: replace
8259 lows: [displayed value] -8224. Please
contact SEW-EURODRIVE for further encoder 7
information.
8448 SSI encoder signals a voltage dip
8449 SSI encoder: Wire break detected 8
SSI encoder: position not within toler-
8450
ance range
Encoder option 2
SSI encoder: SSI pulse train does not Increase cycle frequency
9
8451
match speed sampling interval
8452
SSI encoder: user-defined errors via
fault mask
10
SSI encoder: no high level present Replace option card or
8453
encoder 11
Faulty comparison between raw posi-
8705 tion and check counter with EnDat
encoder 12
8708 Incorrect EEPROM values in encoder 13
EnDat encoder signals error status.
8736 The error code is displayed as fol-
– lows: [displayed value] - 8736. Error 14
8767 codes are listed in the EnDat protocol
description.
EnDat encoder signals internal warn- 15
8768
ing
16
17
18
19
20
21
22

Operation
Sub
Measure

16 “Startup” error Error during startup stage
inhibit System restart Fault = 0
Denominator of pole pair number of
01
resolver not equal to 1
Numerator of pole pair number of
02
resolver too large
Numerator of pole pair number of
03
resolver too small, i.e. = 0
Denominator of emulation PPR count
04
for resolver not equal to 1
Numerator of emulation PPR count
05
for resolver too small
06
for resolver too large
07
for resolver is not a power of two
08
for sine encoder is not equal to 1
09
for sine encoder too small
10
for sine encoder too large
11
for sine encoder is not a power of two
The motor-inverter combination can- Check limit values, adjust
100 not reach the required test torque test torque
with the present limit values
Invalid motor type taken into opera-
512
tion
Set current limit exceeds maximum
513
current of axis
Set current limit is less than nominal
514
magnetizing current of the motor
CFC: Factor for calculating the q-cur-
515
rent cannot be displayed
Invalid parameterization for PWM fre-
516
quency
“Final speed flux table” parameter not
517
within permitted range
“Final flux ID table” parameter not
518
Output stage enable requested with-
519
out valid motor startup
Motor startup not possible with
520
enabled output stage
Factor for torque limit cannot be dis-
521
played (A)
Factor for torque limit cannot be dis-
522
played (B)
Factors for current setpoint filter can-
525
not be displayed
Factors for current increase limit can-
526
not be displayed
Position FIR filter cannot show the
527
encoder delay
Speed FIR filter cannot show the
528
encoder delay
Thermal motor monitoring I2t: Two Increase distance between
529 curve points with identical speed in curve points
the speed-torque characteristics

Operation
16
Error
Sub
Error System status
1
Measure
530 Maximum motor current parameter
set incorrectly
Rotor position identification: forward 3
531 correction table not increasing in
strictly uniform manner
Rotor position identification: CMMin Nominal axis current too 4
532
too small high compared to motor
Rotor position identification not per-
533
mitted for started-up motor 5
PWM frequency for FCB 25 must be Setting the PWM frequency
534
8 kHz to 8 kHz
6
535 TMU-Init index not set Set TMU-Init index
NV memory parameter of nominal
1024
unit current is greater than NV mem- 7
ory parameter of current measuring
range
1025
NV memory parameter of current 8
measuring range is zero
NV memory parameter of current
1026
measuring range is zero 9
NV memory parameter of current
1027
measuring range is too large
1028
System limits for speed are greater 10
than max. possible speed
Application limits for speed are
1029
greater than max. possible speed 11
Invalid sensor type set for output
1030
stage temperature
CFC: No absolute encoder used as 12
1031 motor encoder for synchronous
motors
CFC: No absolute encoder used as 13
1032 motor encoder for synchronous
motors
Position range in position detection 14
Correct the project planning
1033 mode “without overflow counter”
of the travel distance
exceeded
FCB dual drive: Lag error window 15
1034 adjustment must not be smaller than
“standard” lag error window
FCB dual drive: Lag error window 16
1035 may not be smaller than adjustment
threshold
Modulo reference offset is not within 17
1036 Perform error-free startup
modulo limit
Position values of software limit
1037
switch reversed, positive < negative 18
Encoder system: Denominator factor • Performing startup
1038 (system unit) larger than or equal to • Increase numerator
numerator factor (system unit) factor (system unit) 19
Encoder option 1 unable to evaluate Encoder must be operated
1039
set encoder type on XGS11A
20
Encoder option 2 unable to evaluate Use corresponding option
set encoder type card or connect the
1040
required encoder to the
proper hardware 21
The unit or option is unable to evalu- Use corresponding option
ate the set encoder type card or connect the
1041
required encoder to the 22
proper hardware
No commutation present Set commutation with
1042
FCB25

Operation
Sub
Measure
Standstill current not permitted for Disable standstill current

1043
synchronous motor function
Internal processor
17 CPU has detected internal error stage
error (traps) Warm start Fault = 0
inhibit
The software has detected a non-per-
18 Internal software error stage
missible status. System restart Fault = 0
inhibit
19 Process data error Process data not valid stage
inhibit System restart Fault = 0
Process data: Negative maximum
01
torque indicated
Process data: Positive minimum
02
torque indicated
Process data: Negative motor torque
03
limit indicated
Process data: Negative regenerative
04
torque limit indicated
Process data: Torque limit for quad-
05
rant 1 is negative
06
rant 2 is negative
07
rant 3 is negative
08
rant 4 is negative
Torque control: Maximum speed <
09
minimum speed
Position control: Maximum speed
10
value < 0
11 Position control: Maximum speed < 0
12 Position control: Minimum speed > 0
Process data: Enter negative acceler-
13
ation
14 Process data: Enter negative delay
15 Process data: Enter negative jerk
Combination of FCB number and
16
FCB instance does not exist
Target position outside limit switch
17
range
Test torque in braking taste is greater Set test torque to less than
18
than system limit system limit
19 Process data: Negative speed limit Enter positive speed limit
Switching parameter set required for Block output stage before
active output stage activating data set switch
20
via process data (select
FCB01 or approval = 0)
Selection for target or source not Selections for target and
21 within permitted range source must be valid table
indexes
FCB 09: Target specifications in user Adjust modulo underflow
unit outside set modulo range and modulo overflow to the
travel range used / select
30
target specifications in such
a way that they are within
the active modulo range.
FCB 09: Target specification in user Increase resolution of the
31 unit results in target overflow in SYS user unit position
units
FCB 09: Modulo underflow >= mod- Exchange modulo overflow
32
ule overflow and underflow values

Operation
16
Error
Sub
Error System status
1
Measure
FCB 09: Absolute target position Perform reference travel for
33
requested but not referenced position encoder
FCB 09: Acceleration or deceleration Inspect local setpoint, 3
34 limit = 0 sent application limits, system
limits, sent process data
Output 4
Electronic cam lag The preset setpoint deviation limit in System waiting Ready = 1
20 stage
error electronic cam mode was exceeded Warm start Fault = 0
inhibit
01 CAM: Electronic cam lag error 5
The preset lag error in dual drive
21 Dual drive lag error stage
mode “Engel” was exceeded
inhibit Warm start Fault = 0 6
FCB dual drive: Conditioning phase
01
lag error
7
FCB dual drive: Lag error in normal
02
operation
“Non-volatile parame- An error was detected during access

Output System blocked Ready = 0 8
25 stage
ter memory” error to non-volatile parameter memory System restart Fault = 0
inhibit
01 NV memory address access 9
NV memory runtime error (Memo-
02
ryDevice)
Error reading data from non-volatile 10
03 memory. Data cannot be used due to
faulty identification or checksum.
04 Initialization error of memory system. 11
The read-only memory contains
05
invalid data.
The read-only memory contains 12
06 incompatible data of another device
(for exchangeable data memories)
07 NV memory initialization error 13
08 NV memory internal error
09 NV memory JFLASH error 14
10 NV memory FLASH error
Stop with
“External terminal” An error has been reported by a digi-
emer- System waiting Ready = 1
15
26 gency stop
error tal input terminal.
delay (D), Warm start Fault = 0
(P) 16
01 External terminal error
Shutdown
One or both limit switches cannot be
27 “Limit switch” error detected at the programmed input ter-
with emer- System waiting Ready = 1 17
gency stop Warm start Fault = 0
minals or in the control word.
delay
01
Both limit switches missing or wire 18
break
02 Limit switch reversed
Stop with 19
“Fieldbus timeout” Process data communication is inter-
28 gency stop
error rupted.
(P)
01 Fieldbus timeout error
Stop with 21
“Approach hardware Move to hardware limit switch during
29 gency stop
limit switch” error positioning
(P)
01 Move to right limit switch
02 Move to left limit switch

Operation
Sub
Measure

“Deceleration time- The drive did not come to a standstill
30 stage
out” error within the preset delay time. Warm start Fault = 0
inhibit
01 Stop ramp timeout
02 Timeout stop at application limit
03 Timeout stop at system limit
04 Emergency stop ramp timeout
Overtemperature sensor “No Ready = 1
Error “TF/TH Motor
31 (KTY/TF/TH) of the drive has trig- response” No response
thermal protection” Fault = 1
gered for motor protection (D), (P)
Motor temperature sensor wire break
01
detected
Motor temperature sensor short cir-
02
cuit detected
03 Motor overtemperature KTY
Motor overtemperature (synchronous
04
motor model)
05 Motor overtemperature (TF/TH)
06 Motor overtemperature I2t model
“SM Boot Timeout” The power supply module (SM) is not
33 stage
error or no longer ready. System restart Fault = 0
inhibit
SM boot synchronization error with
01
power supply module
“Lag distance syn- A preset, maximum permitted lag Output System waiting Ready = 1
36 chronous operation” error was exceeded during synchro- stage
error nous operation inhibit Warm start Fault = 0
01 FCB synchronous operation: Lag
error
Output Ready = 0
“System watchdog” Internal watchdog timer setting has System blocked / CPU
37 stage
error been exceeded reset Fault = 0
inhibit
Shutdown
“Technology func- with appli- System waiting Ready = 1
38 Error in one technology function
tions” error cation lim- Warm start Fault = 0
its [P]
Cam function: Trip point with negative
01 edge < positive edge has been
entered
Cam function: Command overflow
02
trip-point processing
03 Cam: invalid flow control block type
04 Cam: invalid flow table block type
05 Cam: invalid ProfGen block type
Cam: invalid derivative gen. block
06
type
07 Cam: invalid motor mgmt. block type
Cam: flow control block version is
08
newer than that of the firmware
Cam: flow table block version is
09
newer than that of the firmware
Cam: ProfGen block version is newer
10
than that of the firmware
Cam: derivative gen. block version is
11
newer c
Cam: motor mgmt. block version is
12 newer is newer than that of the firm-
ware
Cam: start address of cam flow table
13
block not within DDB

Operation
16
Error
Sub
Error System status
1
Measure
Cam: the denominator of a mathe-
14
matical curve must not be zero
15 Cam: invalid start curve type 3
16 Cam: this curve type is not permitted.
Cam: the length of the mathematical 4
17 curve must be greater than or equal
to 2
Cam: the master cycle of a curve 5
18 defined by curve points must be
greater than zero.
19
Cam: a sequence of transfer func- 6
tions is not permitted
Cam: the sequence of transfer func-
20
tions to SpeedControl is not permitted 7
Cam: the sequence of SpeedControl
21
to math. curve is not permitted
Cam: the sequence of SpeedControl 8
22 to abs. position control is not permit-
ted
Cam: the sequence of SpeedControl 9
23 to abs. position control is not permit-
ted
24
Cam: start curve number is negative 10
(not initialized)
Cam: a negative curve number is not
35
permitted (not initialized) 11
Cam: a negative start address of a
26 math. curve is not permitted (not ini-
tialized) 12
28 Cam: invalid initialization mode
Cam: invalid remaining distance cor-
29
rection mode 13
Cam: start address of Cam_ProfGen
30
block not within DDB
14
Cam: start address of Cam1 block not
31
within DDB
32
Cam: address of Cam1 master 15
source not within DDB
Cam: start address of Cam2 block not
33
within DDB 16
Cam: address of Cam2 master
34
35
Cam: start address of Cam3 block not 17
within DDB
Cam: address of CAM3 master
36
source not within DDB 18
Cam: start address of
37 CAM_DerivativeGen block not within
DDB 19
Cam: address of derivative generator
38
Cam: start address of motor manage- 20
39
ment block not within DDB
Cam: address of motor management
40
Y source not within DDB 21
41
V source not within DDB
22
42
A source not within DDB
43
MVorst source not within DDB

Operation
Sub
Measure

44
JRel source not within DDB
45
JRelNachPhi source not within DDB
Cam: the length of the mathematical
46 curve must be greater than or equal
to 3
Cam: invalid motor management
47
mode
Cam: invalid initialization mode of the
48
CAM-Prof-Gen
PositionSetpointGen: setpoint
50
change is switched off
PositionSetpointGen: data structure
51
exceeds DDB limit
52 PositionSetpointGen: invalid type
PositionSetpointGen: version in DDB
53
is higher than firmware version
EGear: the master cycle for position-
54 dependent synchronization must not
be zero
EGear: the slave cycle for position-
55 dependent synchronization must not
be zero
EGear: invalid parameters for time-
56
dependent synchronization
PositionSetpointGen: the filter time is
57
outside the limits
PositionSetpointGen: the slave factor
58
is zero
59 EGear: parameter not activated
60 EGear: incorrect type
EGear: version in DDB is higher than
61
the firmware version
PositionSetpointGen: ModuloMin
62 ≥ ModuloMax or a parameter is not
within the limits
PositionSetpointGen: position source
63
not within DDB
80 Position source not within DDB
VEncoder: data structure exceeds
100
DDB limit
101 VEncoder: incorrect type
VEncoder: version in DDB is higher
102
than firmware version
VEncoder: ramp parameters are
103
invalid
104 VEncoder: the divisor is zero
105 VEncoder: ModuloMin >= ModuloMax
VEncoder: target specification not
106
VEncoder: position out of permitted
107
range
VEncoder: operating mode not per-
108
mitted
VEncoder: speed is high enough to
109
exceed ModuloValue in 500µs
VEncoder: parameter max. velocity,
110
max. jerk out of permitted range

Operation
16
Error
Sub
Error System status
1
Measure
DataRecord: data structure exceeds
120
DDB limit
121 DataRecord: incorrect type. 3
DataRecord: version in DDB is higher
122
than firmware version.
4
DataRecord: interpolation time not
123
within limits
DataRecord: ModuloMin 5
within the limits
125
DataRecord: position source not 6
within DDB
DataRecord: the interrupt source has
126 changed to “Waiting for interrupt” sta- 7
tus
DataRecord: the interrupt level has
127
changed to “Wait for interrupt” status 8
DataRecord: PositionExternSource is
128 not within DDB or is not a permitted
index 9
DataBuffer: data structure exceeds
140
DDB limit
141 DataBuffer: incorrect type 10
DataBuffer: version in DDB is higher
142
SystemData: data structure exceeds 11
160
DDB limit
161 SystemData: incorrect type
12
SystemData: version in DDB is higher
162
180 EventControl: incorrect type 13
EventControl: version in DDB is
181
higher than firmware version
EventControl: ModuloMin 14
within the limits
183 EventControl: source not within DDB 15
CAM controller: invalid length of DDB
184
structure
CAM controller: invalid type of DDB 16
185
structure
CAM controller: invalid version of
186
DDB structure 17
187 CAM controller: invalid data source
188 CAM controller: invalid cam reference 18
189 CAM controller: invalid cam data
190 CAM controller: track error
Output 19
“Reference travel” An error has occurred during refer- stage System waiting Ready = 1
39
error ence travel inhibit (D), Warm start Fault = 0
(P) 20
FCB reference travel: timeout error
01
during search for zero pulse
FCB reference travel: hardware limit 21
02
switch before reference cam
FCB reference travel: hardware limit
03
switch and reference cam not flush 22
FCB reference travel: referencing for
04
type 0 must be set to TP

Operation
Sub
Measure
Fixed stop comes before limit Shift or activate limit

06
switches/reference cams switches/reference cams
Limit switches/reference cams do not Set limit switches/reference
overlap/overlap with fixed stop cams so they overlap, or
07
that they overlap with fixed
stop.
Reference offset must be smaller Set reference offset smaller
than 1 encoder revolution in “Single than 1 encoder revolution
08
turn absolute position” encoder posi-
tion mode
FCB reference travel: Reference type
99
was changed during travel
“Boot synchronization” Synchronization with an option card
40 stage
error could not be executed properly System restart Fault = 0
inhibit
Option bus not ready or option card
01
faulty
Timeout during boot synchronization
02
with option or option card faulty
New boot synchronization required
03
for NG-DPRAM option
Timeout during boot synchronization Check connection to option
04 with option or encoder option card bus
faulty
Connection between main processor Output System blocked Ready = 0
“Watchdog timer to
41 and option card processor no longer stage
option” error System restart Fault = 0
exists inhibit
Burst on option bus aborted by single
01
access
Too many options in total or too many
02
options of one kind
Resource management subsystem
03
option error
04 Error in an option driver
05 Invalid burst length
Option found with address selection Set address selection
06 switch set to 0 switch so that it matches
the option card slot
Set address selection
Two options with same address
07 switch so that it matches
selection switch found
the option card slot
08 CRC error XIA11A Replace XIA11A option
09 Watchdog occurred at XIA11A Replace XIA11A option
Alleged XIA11A system tick cycle vio- Inform developer
10
lation
11 SERR on option bus Replace option
12 5-volt reset on XFP11A option
Replace option or replace
13 Watchdog error on CP923X
firmware of option
14 Timeout while accessing option bus Replace option
Error interrupt for which no cause
15
could be determined
Error on option bus Check option card (possibly
18
defective)
Error message from option bus con- Report firmware error
19
nection
No sync signal within a certain wait
21
time
Sync period not divisible as whole
22
number by basic period
23 Invalid sync/basic period ratio

Operation
16
Error
Sub
Error System status
1
Measure
Sync period duration not within per-
24
mitted range
Timer overflow in the area of writing 3
25
the timer register
Reference lost between EncEmu and
26
count timer 4
Speed too high (max. counts
27
exceeded)
5
Illegal parameter (emu. source, emu.
28
hysteresis, emu. resolution)
29 Phase controller in setpoint limitation 6
30 No capture occurred
Encoder option 1 or 2: CRC error in Replace XGH / XGS
31
the internal flash of XC161 7
32 Maximum angle difference exceeded
XGS/XGH option 1: Position mode Firmware update of the
33
not supported option 8
XGS/XGH option 2: Position mode Firmware update of the
34
not supported option
9
A preset, maximum permitted lag
error was exceeded during position-
ing
• Incremental encoder connected
10
incorrectly Output
“Lag distance posi- • Acceleration ramps too short System waiting Ready = 1
42
tioning” error
stage
• P component of positioning con- inhibit Warm start Fault = 0 11
troller too small
• Incorrect speed controller param-
eters 12
• Value of lag error tolerance too
small
01 FCB positioning lag error 13
02 FCB jog lag error
03 FCB standard lag error
Stop with
14
“Remote timeout” An interruption has occurred during System waiting Ready = 1
43 applica-
error control via a serial interface Warm start Fault = 0
tion limits
01 FCB jog mode: Communication time-
15
out during direction control
02 The watchdog for secure parameter
communication has been activated,
1. Check connection to
device 2. Extend timeout
16
but was not re-triggered in time. (No interval of watchdog (max
connection to the device or connec- 500 ms) 3. Decrease utili-
tion too slow) zation of computer to be 17
controlled, close additional
programs, such as Motion-
Studio plug-ins you no lon- 18
ger need
44 “Ixt utilization“ error Inverter overloaded stage
Warm start Fault = 0
19
inhibit
Ixt current limit less than required D
01
current 20
02 Chip temperature rise limit exceeded
03 Chip temperature limit exceeded
El.-mech. capacity utilization limit
21
04
exceeded
05 Short circuit of sensor detected 22
06 Motor current limit exceeded
Output Ready = 0
“System initialization” Error during initialization of the sys- System blocked / CPU
45 stage
error tem reset Fault = 0
inhibit

Operation
Sub
Measure
The measured current offsets are out-

01
side the permitted limit values
An error occurred during CRC gener-
02
ation for the firmware
03 Data bus error during RAM test
04 Address bus error during RAM test
05 Memory cell error during RAM test
Wrong FPGA version for current firm- Reload BSP or firmware
20
ware
Stop with
“Timeout SBUS #2” Communication via SBUS#2 is inter- emer- System waiting Ready = 1
46
error rupted gency stop Warm start Fault = 0
delay (D)
01 Timeout CANopen, CAN2: Control
failure, cable breakage
24 V supply voltage
50 Error in the 24 V supply voltage stage
error System restart Fault = 0
inhibit
24 V signals faulty or switched-mode
01 Check the 24 V supply
power supply defective
Internal AD converter: No conversion
04
performed
Shutdown
with emer- System waiting Ready = 1
“Software limit switch” A software limit switch was
51 gency stop
error approached during positioning
delay (D), Warm start Fault = 0
(P)
The right software limit switch was
01
approached
The left software limit switch was
02
approached
A CRC error occurred while checking Output System blocked Ready = 0
53 “CRC flash” error the program code by flash in code stage
RAM or resolver DSP. inhibit System restart Fault = 0
01 CRC32 error in flash EEPROM sec-
tion “Initial Boot Loader”
tion “Boot Loader”
tion “DSP firmware”
04 CRC32 error in code RAM (firmware)
after copying from flash EEPROM
with ongoing control during operation
following a software or watchdog
reset (CPU error triggered by code
inconsistency)
07 CRC32 error in code RAM (firmware):
Repeated reading of same memory
cell yielded different date
09 Correctable bit error detected in Boot
Loader Package
10 Correctable bit error detected in Boot
Support Package
11 Correctable bit error detected in firm-
ware
Output Ready = 0
“FPGA configuration” System blocked / CPU
55 Internal error in logic module (FPGA) stage
error reset Fault = 0
inhibit

Operation
16
Error
Sub
Error System status
1
Measure
Output Ready = 0
System blocked / CPU
56 “External RAM” error Internal error in RAM module stage
reset
inhibit Fault = 0 3
Asynchronous DRAM read&write
01
check error
Asynchronous burst-RAM read & 4
02
write check error
Synchronous burst-RAM read check
03
error (burst mode failure) 5
04 FRAM error
05
FRAM consistency management 6
error detected
57 "TTL encoder" error Error in TTL encoder stage
System restart Fault = 0 7
inhibit
01 TTL encoder: Wire break
02
TTL encoder: Emulation error (exces- 8
sive speed)
TTL encoder: Invalid period of syn-
03
chronization signal 9
TTL encoder: Failure of synchroniza-
04
tion signal
TTL encoder: Faulty parameters set 10
05
for DSP
TTL encoder: Overload at AD con-
06
verter input 11
TTL encoder: PLL could not be initial-
07
ized
12
TTL encoder: CRC error via data
08
flash (X-flash)
09
TTL encoder: CRC error via boot 13
flash (B-flash)
TTL encoder: CRC error via program
10
flash (P-flash) 14
TTL encoder: DSP watchdog has
11
tripped
12
TTL encoder: Invalid instruction in 15
DSP
TTL encoder: Unexpected interrupt in
13
DSP 16
TTL encoder: Software interrupt in
14
DSP
TTL encoder: Hardware stack over- 17
15
flow in DSP
16 TTL encoder: ONCE trap in DSP
18
17 TTL encoder: Interrupt A in DSP
18 TTL encoder: Interrupt B in DSP
19
TTL encoder: Invalid angle during cal- 19
ibration
TTL encoder: Error deleting flash dur-
20
ing calibration 20
TTL encoder: Error programming
21
flash during calibration
TTL encoder: Error verifying flash 21
22
during calibration
TTL encoder: Resolver evaluation is
23
not calibrated 22
TTL encoder: PLL has locked during
24
operation

Operation
Sub
Measure
TTL encoder: Init phase of DSP not

256
finished within permitted time period
TTL encoder: Ready signal of DSP
257
not within permitted time period
• Check wiring if error
occurs immediately
• Check interference
Encoder basic unit: TTL encoder:
512 source if error occurs
Amplitude control has failed
sporadically
• Replace encoder
• Replace card
Encoder basic unit: TTL encoder: Please contact SEW-
513
EPLD reports error EURODRIVE
Encoder basic unit: TTL encoder: Set the correct system
514 Protection against division overflow numerator/denominator
by limiting the actual speed values
TTL encoder option 1: Error in ampli-
4608
tude control
TTL encoder option 1: EPLD error
4609
message
TTL encoder option 1: Protection
4610 against division overflow by limiting
the actual speed
TTL encoder option 2: Error in ampli-
8704
tude control
TTL encoder option 2: EPLD error
8705
message
TTL encoder option 2: Protection
8706 against division overflow by limiting
the actual speed
“Sine/cosine encoder” Error in sine/cosine encoder evalua-
58 stage
error tion System restart Fault = 0
inhibit
Sine/cosine encoder: Wire break
01
detection
Sine/cosine encoder: Emulation error
02
(excessive speed)
Sine/cosine encoder: Invalid period of
03
synchronization signal
Sine/cosine encoder: Failure of syn-
04
chronization signal
Sine/cosine encoder: Faulty parame-
05
ters set for DSP
Sine/cosine encoder: Overload at AD
06
converter input
Sine/cosine encoder: PLL could not
07
be initialized
Sine/cosine encoder: CRC error via
08
data flash (X-flash)
09
boot flash (B flash)
10
program flash (P-flash)
Sine/cosine encoder: DSP watchdog
11
has tripped
Sine/cosine encoder: Invalid instruc-
12
tion in DSP
Sine/cosine encoder: Unexpected
13
interrupt in DSP
Sine/cosine encoder: Software inter-
14
rupt in DSP

Operation
16
Error
Sub
Error System status
1
Measure
Sine/cosine encoder: Hardware stack
15
overflow in DSP
Sine/cosine encoder: ONCE trap in 3
16
DSP
Sine/cosine encoder: Interrupt A in
17
DSP 4
Sine/cosine encoder: Interrupt B in
18
DSP
5
Sine/cosine encoder: Invalid angle
19
during calibration
20
Sine/cosine encoder: Error deleting 6
Sine/cosine encoder: Error program-
21
ming flash during calibration 7
Sine/cosine encoder: Error verifying
22
23
Sine/cosine encoder: Resolver evalu- 8
ation is not calibrated
Sine/cosine encoder: PLL has locked
24
during operation 9
Sine/cosine encoder: Init phase of
256 DSP not finished within permitted
time period 10
Sine/cosine encoder: Ready signal of
257
DSP not within permitted time period
• Check wiring if error 11
occurs immediately
• Check interference
Encoder basic unit: Sine/cosine
512
encoder: Amplitude control has failed
source if error occurs 12
sporadically
• Replace encoder
• Replace card 13
Please contact SEW-
513 encoder: Initialization of track counter
EURODRIVE
not possible 14
Set the correct system
514 numerator/denominator
encoder: Quadrant control has failed
values 15
Encoder basic unit: Sine/cosine Set the correct system
515 encoder: Protection against division numerator/denominator
overflow by limiting the actual speed values 16
Sine/cosine encoder option 1: Error in
4608
amplitude control
4609
Sine/cosine encoder option 1: Initial- 17
ization of track counter not possible
4610
quadrant control 18
Sine/cosine encoder option 1: Protec-
tion against division overflow by limit-
4611 ing the actual speed Error also 19
possible with SSI encoders that can
also be speed sensors, e.g. CE65.
8704
Sine/cosine encoder option 2: Error in 20
amplitude control
Sine/cosine encoder option 2: Initial-
8705
ization of track counter not possible 21
8706
quadrant control
Sine/cosine encoder option 2: Protec- 22
tion against division overflow by limit-
8707 ing the actual speed Error also
possible with SSI encoders that can
also be speed sensors, e.g. CE65.

Operation
Sub
Measure
Shutdown
"Encoder communica- Error of Hiperface® encoder or in with emer- System waiting Ready = 1
59
tion" error Hiperface® evaluation gency stop Warm start Fault = 0
delay
Hiperface encoder: Quadrant control • Delete serial number
01
has failed when encoder is dis-
connected (index 9807,
Hiperface® encoder: Track angle off- 1/2/3 at standard input,
set is incorrect. Can occur when index 9808, 1/2/3 at
02 replacing brake (motor sent in for Option1 and Index
brake replacement, encoder is recali- 9809, 1/2/3 at Option2)
brated and commutated) • The reconnect encoder
• Restart MOVIAXIS®
• Check wiring
Hiperface® encoder: Encoder does
16 • Replace encoder
not respond during communication
• Replace card
Hiperface® encoder: Communication
64
error when reading type
128
error when reading status
192
error when reading serial number
256 error when initializing absolute posi-
tion
Eliminate interference
320 error when re-initializing absolute
Encoder basic unit sources
position
384 error when checking absolute posi-
tion
448
error when writing position
Hiperface® encoder: No response
512
when reading analog values
Hiperface® encoder: No response
576
when requesting encoder nameplate
EnDat encoder: Communication error
1024
during reset command
1088
when initializing position
1152
when checking position
1216
when selecting memory range
1280
when reading a parameter
1388
when writing a parameter

Operation
16
Error
Sub
Error System status
1
Measure
Hiperface®
encoder option 1: Error
4097
when checking quadrants
Hiperface® encoder option 1: Track 3
4098
angle offset not correct
Hiperface® encoder option 1: No
4112 response when requesting communi- 4
cation
Option 1
4160
response when requesting type 5
®
Hiperface encoder option 1: No
4224
response when requesting status
6
4288 response when requesting serial
number
7
4352 response when requesting initializa-
tion position
8
4416
response when reinitializing position
Hiperface® encoder option 1: No 9
4480 response when checking position
plausibility
Hiperface® encoder option 1: No 10
4544
response when writing position
Hiperface® encoder option 1: No Check communication
4608 response when reading analog val- 11
ues
4672 response when requesting encoder 12
nameplate
Option 1
EnDat encoder option 1: Communica-
5120
tion error during reset command 13
5184
tion error when initializing position
5248
EnDat encoder option 1: Communica- 14
tion error when checking position
5312 tion error when selecting memory 15
range
5376
tion error when reading a parameter 16
5440
tion error when writing a parameter
17
18
19
20
21
22

Operation
Sub
Measure
®
Hiperface encoder option 2: Error in
8193
quadrant control
Hiperface® encoder option 2: Track
8194
angle offset is incorrect
8208 response when requesting communi-
cation
8256
response when requesting type
8320
response when requesting status
8384 response when requesting serial
number
8448 response when requesting initializa-
tion position
Option 2
8512
response when reinitializing position
8576 response when checking position
plausibility
8640
response when writing position
8704 response when reading analog val-
ues
8768 response when requesting encoder
nameplate
9216
tion error during reset command
9280
tion error when initializing position
9344
tion error when checking position
9408 tion error when selecting memory
Option 2 range
9472
tion error when reading a parameter
9536
tion error when writing a parameter
"DSP Communica-
60 Error when flashing DSP stage
tion" error System restart Fault = 0
inhibit
Error DSP JTAG Comm: No JTAG
01
connection
DSP Once Comm error: Debug status
02
could not be reached
DSP Once Comm error: DSP_CPU
03 was not in debug mode prior to exe-
cution of DSP_Code
DSP Once Comm error: DSP-PLL not
04
locked or no external cycle present
DSP flash info FW error: ID code
05
unknown
DSP flash info FW error: CRC error
06 when checking one of the four flash
areas

Operation
16
Error
Sub
Error System status
1
Measure
DSP flash info FW error: Unknown
07 flash info version in DSP firmware in
tri core flash 3
"DSP flash info DSP" error: Unknown
08 flash info version in DSP firmware in
DSP flash 4
DSP flash info DSP error: DSP code
09 routine for calculating three CRCs
not executed completely 5
DSP flash programming error Error
10
deleting B flash
DSP flash programming error Error 6
11
deleting P flash
DSP flash programming error Error
12
deleting X flash 7
DSP flash programming error Access
13
to Flash register set during BUSY Bit
8
DSP flash programming error Access
14 to FIU_CNTL register set during
BUSY Bit
9
DSP flash programming error: Write-
15
Read access to Flash during deletion
DSP flash programming error: Write- 10
16 Read access to Flash during pro-
gramming
17
DSP flash programming error: Flash 11
access outside the valid range
DSP flash programming error: Error
18
verifying B flash 12
DSP flash programming error: Error
19
verifying P flash
20
DSP flash programming error: Error 13
verifying X flash
DSP flash programming error:
21 Access to Flash register set during 14
BUSY flag
DSP flash programming error:
22 Access to FIU_CNTL register set dur- 15
ing BUSY Bit
23
Read access to Flash during deletion 16
24 Read access to Flash during pro-
gramming 17
DSP flash programming error: Flash
25
access outside the valid range
DSP flash programming error: No lon- 18
26
ger used
DSP flash programming error: Invalid
27
programming mode 19
DSP flash programming error: Page
28
and row length not defined
20
DSP calibration error: CRC error X
29
flash
30
DSP calibration error: Wire break 21
detection resolver
DSP calibration error: Emulation error
31
resolver (excessive speed) 22
DSP calibration error: Invalid period
32
of synchronization signal
DSP calibration error: Failure of syn-
33
chronization signal

Operation
Sub
Measure
DSP calibration error: Faulty parame-

34
terization
DSP calibration error: Overload at AD
35
converter input
DSP calibration error: PLL could not
36
be initialized
DSP calibration error: CRC error via
37
X flash
38
B flash
39
P flash
DSP calibration error: DSP watchdog
40
has tripped
DSP calibration error: Invalid instruc-
41
tion in DSP
DSP calibration error: Unexpected
42
interrupt in DSP
DSP calibration error: Software inter-
43
rupt in DSP
DSP calibration error: Hardware
44
stack overflow in DSP
DSP calibration error: ONCE trap in
45
DSP
DSP calibration error: Interrupt A in
46
DSP
DSP calibration error: Interrupt B in
47
DSP
DSP calibration error: Invalid angle
48
during calibration
DSP calibration error: Error deleting
49
DSP calibration error: Error program-
50
ming flash during calibration
DSP calibration error: Error verifying
51
DSP calibration error: Resolver eval-
52
uation is not calibrated
DSP calibration error: PLL has locked
53
during operation
DSP calibration error: Unknown DSP
54
error
Shutdown
Process data configu- with emer- System blocked Ready = 0
66 Process data configuration error
ration error gency stop System restart Fault = 0
delay
The process data configuration has
been changed. The entire process
01
data subsystem has to be restarted
by means of an inverter reset.
Process data configuration error:
102 Incorrect input process data length of
communication option
Process data configuration error: 2 I/O PDOs must be con-
201 I/O PDOs connected to one option nected with different
options
Two PDO mapper channels linking to Eliminate conflict of PDO
301
the same target mapper channels.
Software error in process data sub-
1001 system: Process data buffer stack
overflow

Operation
16
Error
Sub
Error System status
1
Measure
1002 system: Process data buffer stack
underflow 3
1003 system: Too many users for process
data buffer stack 4
1004
system: 1004
Software error in process data sub- 5
1005
system: 1005
1006
system: 1006 6
1007
system: Too many PDO users
7
1008
system: Too many PDO user nodes
1009
Software error in process data sub- 8
system: 1009
Firmware error: Permitted number of
1010
PDO mapper channels exceeded 9
2000 Software Perform factory setting
Address is equal to 0 or higher than Address 1 to 127 assigned
2001
127 10
2002 Invalid PDO mapping
A PDO configured to CAN has an ID
located in the area (0x200-0x3ff and 11
10001
0x600-0x7ff) used for parameteriza-
tion by the SBus.
A PDO configured to CAN has an ID 12
10002 located in the area used by CANopen
for parameterization (0x580-0x67f).
A PDO configured to CAN is to trans- 13
10003 mit more than 4 PD. Only 0 – 4 PD
are possible for CAN.
Two or more PDOs configured to the 14
10004
same CAN bus use the same ID.
Two PDOs configured to the same
10005
CAN bus use the same ID. 15
Process data configuration error: Too
10006 many PDOs set to CAN (missing
mem.) 16
Process data configuration error: Too
10007 many PDOs set to CAN (missing
CAN res.) 17
Invalid transmission mode entered for
10008
a PDO configured to CAN.
18
10009 CAN ID has already been used by
scope on the same CAN
19
10010 CAN ID has already been used by
sync on the same CAN
20
10011 Send problems on CAN (double send
err.)
21
10012 Send problems on system bus (dou-
ble send err.)
22
10013 Send problems on application CAN
(double send err.)

Operation
Sub
Measure
The inhibit time is not a whole-num- Adjust inhibit time or

10014 bered multiple of the current process change current process
data processing data processing
The event timer is not a whole-num- Adjust event timer or cur-
10015 bered multiple of the current process rent process data process-
data processing ing
The CAN setpoint cycle is not a Adjust CAN setpoint cycle
10016 whole-numbered multiple of the cur- or current process data pro-
rent process data processing cessing
The CAN sync period is not a whole- Adjust CAN sync period or
numbered multiple of the current pro- current process data pro-
cess data processing cessing
The CAN sync offset is not a whole- Adjust CAN sync offset or
10018 numbered multiple of the current pro- current process data pro-
cess data processing cessing
Data acceptance time of synchronous Set the time of data accep-
out-PDOs greater than or equal to tance of synchronous out-
10019 CAN setpoint processing cycle. This PDOs to a smaller value
means out-PDOs are no longer sent than the CAN setpoint pro-
cessing cycle
20001 Configuration conflict with the master
Process data configuration error: Bus
20002 master has deactivated OUT PDO or
specified invalid offset
Process data configuration error: Bus
20003 master has deactivated IN PDO or
specified invalid offset
20004 More input PDO on K-net than per-
mitted
20005 More output PDO on K-net than per-
mitted
20006 More PDO words on K-net than per-
mitted
An input PDO whose timeout interval
Stop with
is not 0, that has not been set to System waiting Ready = 1
applica-
67 PDO timeout errors "Offline", and that has already been
tion delay Warm start Fault = 0
received once, has exceeded its time-
(D), (P)
out interval.
0 PDO 0
1 PDO 1
2 PDO 2
3 PDO 3
4 PDO 4
5 PDO 5
6 PDO 6
7 PDO 7
8 PDO 8
9 PDO 9
10 PDO 10
11 PDO 11
12 PDO 12
13 PDO 13
14 PDO 14
15 PDO 15
Shutdown
External synchroniza- with emer- System waiting Ready = 1
68
tion errors gency stop Warm start Fault = 0
delay

Operation
16
Error
Sub
Error System status
1
Measure
Time limit for expected synchroniza-
01
tion signal exceeded
Synchronization lost, synchronization 3
02
period outside tolerance range
Synchronization to sync. signal not
03
possible 4
Duration of sync. signal is not an inte-
04 ger multiple of the PDO system dura-
tion 5
Time limit for synchronization signal
05
exceeded
6
Synchronization lost, invalid period of
06
synchronization signal
07
No synchronization of the synchroni- 7
zation signal possible
08 Duration of system interval too short
09 Duration of system interval too long 8
Duration of system interval is a multi-
10
ple of the base interval
No 9
Prewarning motor Ready = 1
Motor temperature has exceeded the response,
69 overtemperature ---------
adjustable prewarning threshold display Fault = 1
errors
only 10
Thermal motor protection: Prewarn-
01
ing triggered by KTY temperature
Thermal motor protection: Prewarn- 11
02 ing triggered by synchronous motor
model temperature
Thermal motor protection: Warning 12
03
threshold I2t model exceeded
No
Error message word 0
The error message of an unknown
response, 13
70 device was detected in the error mes- ---------
errors display
sage word
only
01 Message error control word 0 14
No
Error message word 1 response,
71
errors
device was detected in the error mes-
display
--------- 15
sage word
only
01 Message error control word 1
16
No
errors display
sage word
only 17

No 18
errors display
sage word
only
19
No
74
Error message word 4
device was detected in the error mes-
response,
--------- 20
errors display
sage word
only
01 Message error control word 4 21
No
errors
sage word
display 22
only

Operation
Sub
Measure
No
Intelligent option response,
76 MOVI-PLC® error ---------
errors display
only
The DC link current in the power sup- Output System waiting Ready = 1
DC link overcurrent
81 ply module has exceeded the maxi- stage
SM errors Warm start Fault = 0
mum limit of 260% Irated. inhibit
01 SM: DC link current too high
No Ready = 1
I²xt monitoring SM Utilization of power supply module
82 response --------
prewarning has reached prewarning level Fault = 1
(D), (P)
01 SM: Ixt utilization prewarning
Utilization of power supply module Output System waiting Ready = 1
I²xt monitoring SM
83 has reached or exceeded the cut-off stage
errors Warm start Fault = 0
threshold inhibit
01 SM: Ixt utilization error
Error message through power supply
module via hardware information sys-
tem. The brake chopper in the power Output System waiting Ready = 1
Brake chopper at AM
84 supply module is not ready for opera- stage
tion, triggered by BRC short-circuit inhibit
monitoring or driver voltage monitor-
ing.
01 SM: Error brake chopper
The temperature of the power supply No Ready = 1
Temperature monitor-
85 module is approaching the cut-off response ---------
ing SM prewarning Fault = 1
threshold (D), (P)
01 SM: Temperature prewarning
The temperature of the SM has Output System waiting Ready = 1
Overtemperature SM
86 reached or exceeded the cut-off stage
threshold. inhibit
01 SM: Temperature error
The capacity utilization of the braking
Utilization braking No Ready = 1
resistor installed in the SM has
87 resistor in SM pre- response ---------
reached the prewarning threshold Fault = 1
warning (D), (P)
(applies to 10 kW version only)
01 SM: Ixt prewarning braking resistor
The capacity utilization of the braking
resistor installed in the SM has Output System waiting Ready = 1
Utilization braking
88 reached or exceeded the switch-off stage
resistor in SM errors Warm start Fault = 0
threshold (applies to 10kW version inhibit
only)
01 Ixt utilization error braking resistor of
the SM
89 Switched-mode power Switched-mode power supply SM No Ready = 1
supply SM errors ---------
errors response Fault = 1
01 At least one of the supply voltages in
the SM is not present
SM 24V voltage sup-
ply warning displayed 24 V electronics supply less than 17 No Ready = 1
91 ---------
in power supply mod- V -> No error message for the axis !! response Fault = 1
ule only
01 24 V electronics power supply too low
An error has occurred in the device Output System blocked Ready = 0
Device configuration
94 configuration data block during test- stage
data errors System restart Fault = 0
ing in the reset phase inhibit
01 Device configuration data: Check-
sum error
02 Device configuration data: Invalid ver-
sion of the configuration data set
03 Device configuration data: Unex- Rectify configuration or
pected nominal unit current adjust firmware

Operation
16
Error
Sub
Error System status
1
Measure
Copy parameter set Parameter set could not be copied
97 stage
errors correctly
inhibit System restart Fault = 0 3
01 Download of parameter set to unit Repeat download or
canceled restore delivery condition
107 Line components The firmware has detected an error in 4
Display
errors one of the line components (choke, ---------
only
line filter, line contactor)
115 Connections X7:1 (+24 V) / X7:2 5
(RGND) or X8:1 (+24 V) / X8:2 Output System waiting Ready = 1
Safety functions
errors (RGND) are reversed. Check wiring. stage Warm start Fault = 0
Encoder cabled incorrectly
inhibit 6
Safety relays: Switching delay • One safety relay in the
between shutdown channels 1 and 2 unit: Check fuse PCB
is too large. • Two safety relays in the 7
Encoder cabled incorrectly unit: Check con-
01 trol/cabling of both
relays: Permitted 8
switching delay:
100 ms
• Check encoder wiring 9
116 Communication timeout via DPRAM System waiting
Timeout MOVI-PLC or SBus between MOVI-PLC® and Emer- Checking communication Ready = 1
errors unit gency stop connection Fault = 0 10
Warm start
197 The firmware has detected a power Display
Power failure errors ---------
failure only 11
1) valid for default reaction / failure = 0 at the digital output means: Fault present
2) P = programmable, D = default response 12
13
14
15
16
17
18
19
20
21
22

Operation
16 MXC capacitor module operating displays
16.5 MXC capacitor module operating displays

The operating states are indicated by a two-color LED at the front of the housing.
• LED lights up green:
– Capacitor module is ready for operation.
• LED lights up red:
– General error.
• LED flashes red (1 Hz):
– Limit of capacitor module reached.
• LED does not light up:
– No voltage is supplied to the capacitor module.
[1]
1778575499
[1] LED
16.6 MXB buffer module operating displays

No messages are issued at the buffer module.

Operation
24 V SMPS module operating displays
16
16.7 24 V SMPS module operating displays 1

The operating status, such as utilization and fault of the switched-mode power supply,
is indicated by two LEDs on the front of the unit. 2
• State LED:
– Normal operation green.
3
– Fault red. A fault is indicated in case of:
4
• Overload,
• Overvoltage, 5
• Undervoltage.
• Load LED: 6
– Normal operation green.
– With ca. 80% utilization per output (8A) yellow. 7
10
[1] 11
[2]
12
13
14
15
1410983691
16
[1] LED State [2] LED Load
17
18
19
20
21
22

Service
17 Service
No inspection or maintenance intervals required during active operation.
17.1.1 Repair service

Please contact SEW-EURODRIVE electronics service if an error cannot be repaired
(→ "Customer and spare parts service").
When contacting the SEW electronics service, please always quote the production num-
ber and order number. so our service personnel can assist you more effectively. You find
the production number on the nameplate (page 493).
Provide the following information when sending the unit in for repair:
• Production number ( nameplate),
• Type designation
• Unit type
• Digits of the production number and order number
• Short application description (drive type, control)
• connected motor (motor type, motor voltage)
• Nature of the fault
• Accompanying circumstances
• Your own assumptions
• Unusual events preceding the problems.

Service
Removing/installing a module
17
17.2 Removing/installing a module 1

This chapter describes how to replace an axis module in the axis system. The master
module, capacitor module, buffer module, power supply module, DC link discharge 2
module and the 24 V switched-mode power supply unit are all installed/removed in the
same way. 3
17.2.1 Safety notes 4

Always adhere to the following safety notes.
5
DANGER
Dangerous voltage levels may still be present inside the unit and at the terminal strips
6
up to 10 minutes after the complete axis system has been disconnected from the sup-
ply system.
7
8
• Disconnect the axis system from the supply system and wait ten minutes before re-
moving the covers.
• After maintenance work, do not operate the axis system unless you have replaced 9
the cover, because the unit only has degree of protection IP00 without cover.
10
DANGER
11
A leakage current > 3.5 mA can occur during operation of the MOVIAXIS® multi-axis
servo inverter.
12
To prevent electric shock: 13
• With a supply system lead < 10 mm2, route a second PE conductor with the same
cross section as the supply system lead via separate terminals. Instead, you can
use a PE conductor with a copper cross section of ≥ 10 mm2 or aluminum 14
≥ 16 mm2.
• With an incoming supply line ≥ 10 mm2, it is sufficient to install a PE conductor with
a copper cross section ≥ 10 mm2 or aluminum ≥ 16 mm2.
15
• If an earth leakage circuit breaker can be used for protection against direct and in-
direct contact, it must be universal current sensitive (RCD type B). 16
17.2.2 Tightening torques 17

Tightening torques
Retaining screws of the covers 0.8 Nm 18
Retaining screws of the DC link connections 3 – 4 Nm
19
20
21
22

Service
17 Removing/installing a module
17.2.3 Removing an axis module

Remove an axis module in the following sequence:
Disconnecting the • Disconnect the entire axis system from the power supply. Observe the safety notes
axis system from (page 715).
the power supply
Shield clamps • Remove the electronics shield clamps [2].
Cables • Remove the plugs of the encoder cables [4] (X13).

• Remove the plugs of the signal bus cables [1] (X9a, X9b).
• Remove the plugs of the CAN2 connection cables [3] (X12), if there are any.
Covers • Remove covers [5], also those of the units to the left and right of the unit that is to be
removed.
Signal lines • Remove the plugs of the signal cables [6] (X10, X11).
[1]
[2]
[6]
[3]
[4]
[5]
1411055115
24 V cables • Remove the 24 V cable plugs for the electronics and brake supply [8] (X5a, X5b).

Service
17
DC link bars • Remove DC link bars [13] of the respective units (X4). 1
Shield plate • Remove shield plate on the power terminal [10]: 2

• Loosen the screw.
• Remove shield plate in downward direction. 3
Motor lines • Remove the plugs of the motor cables [12] (X2). 4
Brake control • Remove the plugs of the brake control cables [11] (X6). 5
Safety relays • Remove safety relay plugs, if there are any. 6

Retaining screws • Loosen the 2 lower retaining screws [9] of the axis module.
7
• Loosen the 2 upper retaining screws [7] of the axis module.
8
10
[7]
11
12
13
[13]
14
[8] 15
16
17
[9]
18
[10] 19
[12]
20
[11]
1411057547
21
22

Service
Removing the axis • Lift the axis module a little and tilt it to the front. Lift the axis module out completely.
module
1411059979

Service
17
17.2.4 Installing an axis module 1

The item numbers in the following description refer to the figures shown in the previous
chapter "Removing an axis module". 2
Mounting the axis • Place the axis module on the lower retaining screws from the top and push it back- 3
module wards until its entire rear side touches the panel. Lower the axis module.
10
11
12
13
14
1411062411
15
Retaining screws • Tighten the upper retaining screws [7].
• Tighten the upper retaining screws [9]. 16
Brake control • Plug in the brake control cables [11] (X6). 17
Motor lines • Plug in the motor cables [12] (X2). 18
Shield plate • Attach the shield plate on the power terminal [10]. Tighten the screws of the shield 19
plate.
DC link bars • Place on the DC link bars [13]. Tighten the screws of the bars (X4).
20
21
22

Service
24 V cables • Plug in the 24 V cable for the electronics and brake supply [8] (X5a, X5b).
[7]
[13]
[8]
[9]
[10]
[12] [11]
1411064843
Signal lines • Plug in the signal cables [6] (X10, X11) (page 716).
Covers • Place on the protective covers [5] (page 716). Tighten the screws of the covers
(page 716).

Service
Mounting the DC link connection in case of two-row configuration of the axis
17
17.3 Mounting the DC link connection in case of two-row configuration of the axis 1
system
We recommend the following sequence for mounting the DC link busbar: 2
4
[3]
6
+U PE [6]
z
[1]
7
-U
z
8
[4]
[7]
[5] 9
[2]
10
11
12
[8]
13
[9]
14
15
• Use the screws [2] to screw the three conductor bars [1] to the insulator [3]. The tight-
ening torque is 2.5 – 3 Nm.
16
INFORMATION 17
The DC link conductors +Uz and -Uz must be twisted at least 3 times, see [1] in the
figure on the next page.
18
• Use the screws [5] to screw the three prefabricated DC link connections [4] to the
19
conductor bars [1]. The tightening torque is 3 – 4 Nm.
The steps described above must be performed at both insulators.
20
Mount the preinstalled insulators to the axis module as follows:
• Push the conductor rails [1] under the DC link bars [6] of the axis module and use 21
the screws [7] to connect them.
• Attach the cover [8]. 22

Service
17 Mounting the DC link connection in case of two-row configuration of the axis
Figure: Twisting the DC link connections +Uz and -Uz [1].
PE +Uz -Uz
PE
+Uz
-Uz
[1]

Service
Mounting the DC link connection when a BST brake module is connected
17
17.4 Mounting the DC link connection when a BST brake module is connected 1
We recommend the following sequence for mounting the DC link connection:
2
[3]
4
+U PE
z [6] 6
[1]
-U
z 7
[4] 8
[7]
[5]
9
[2]
10
11
[8] 12
13
[9]
14
• Use the screws [2] to screw the three conductor rails [1] to the insulator [3]. The tight- 15
ening torque is 2.5 – 3 Nm.
• Use the screws [5] to screw the three cable lugs [4] to the conductor rails [1]. The 16
tightening torque is 3 – 4 Nm.
Mount the preinstalled insulators as follows: 17
• Push the conductor rails [1] under the DC link bars [6] of the MOVIAXIS® module
and use the screws [7] to connect them.
18
• Attach the cover [8].
• Attach the protection cap [9]. 19
20
21
22

Service
17 Extended storage
17.5 Extended storage

The following table shows the intervals and measures that are relevant for long-term
storage of the modules.
Modules Interval/measure
Grid connection: Connect the unit Supply connections: Connect the DC link connection: Connect the
to the supply system for 5 minutes unit to the 24 V supply for 5 min- unit to the DC link voltage very to
every 2 years. utes every 2 years. years, e.g. via MXP.
MXP x x -
MXR - x -
MXA - x -
MXC - x x
MXB - - x
MXS - - x
MXZ - x -
MXM - x -
MXD - - -
DANGER
Exposed power and DC link connections.
• Before switching on the voltage, install the covers at the modules, see chapter
"Covers and touch guards" (page 554).
• Before switching on the voltage, install the touch guards as prescribed, see
chapter "Covers and touch guards" (page 554).
• Never startup the MOVIAXIS® multi-axis servo inverter if the covers and touch
guards are not installed.
Procedure when maintenance has been neglected:
Electrolytic capacitors are used in the servo inverters. They are subject to aging effects
when de-energized. This effect can damage the capacitors if the unit is connected using
the nominal voltage after a longer period of storage.
If you have not performed maintenance regularly, SEW-EURODRIVE recommends that
you increase the line voltage slowly up to the maximum voltage. This can be done, for
example, by using a variable transformer for which the output voltage has been set ac-
cording to the following overview. After you have completed the regeneration process,
the unit can be used immediately or stored again.
The following stages are recommended:
AC 400/500 V units:
• Stage 1: 0 V to AC 350 V within a few seconds
• Stage 2: AC 350 V for 15 minutes
• Stage 2: AC 420 V for 15 minutes
• Stage 3: AC 500 V for 1 hour
The 24 V DC voltage supply can be applied without paying attention to any particular
notes.
After you have completed the regeneration process, the unit can be used immediately
or stored again for an extended period with maintenance.

Service
Disposal
17
17.6 Disposal 1
Observe the applicable national regulations.
2
Dispose of the following materials separately in accordance with the country-specific
regulations in force, such as:
• Electronics scrap (circuit boards)
3
• Plastics
4
• Sheet metal
• copper 5
• Aluminum.
6
10
11
12
13
14
15
16
17
18
19
20
21
22

Appendix
18 Suitable encoders
18 Appendix
18.1 Suitable encoders
The encoders listed in the following tables are evaluated by the multi-encoder card.
SEW encoder desig- Manufacturer designation/manufac- Encoder voltage

Encoder system
nation turer supply
AF1H SRM50-HZA0-S05 / SICK-Stegmann 12 V
AG7W AMG38W / Hübner 7 – 30 V
AK0H SKM36 / SICK-Stegmann 12 V
AK1H SRM50-HFA0-K22 / SICK-Stegmann 12 V
AL1H L230 / SICK-Stegmann 12 V
AS1H SRM50 / SICK-Stegmann 12 V
AS3H/AS4H SRM64 / SICK-Stegmann 12 V
AS7H SRM64 / SICK-Stegmann 12 V
AS7W AMG73 W29 S2048 / Hübner 7 – 30 V
AV1H SRM50C3 / SICK-Stegmann 12 V
Hiperface®
AV6H SRM50-HWZ0-S02 / SICK-Stegmann 12 V
AV7W AMG73 W29 S2048 7 – 30 V
EF1H SR50-HZA0-S03 / SICK-Stegmann 12 V
EK0H SKS36 / SICK-Stegmann 12 V
EK1H SICK-Stegmann 12 V
ES1H SRS50 / SICK-Stegmann 12 V
ES2H SICK-Stegmann 12 V
ES3H/ES4H SRS64 / SICK-Stegmann 12 V
ES7H SRS64 / SICK-Stegmann 12 V
EV1H SRS50 C16 12 V
AG7Y AMG83 SSI-Kombi / Hübner 7 – 30 V
AH7Y HMG161 / Hübner 24 V
AS7Y AMG73 S24 S2048 / Hübner 7 – 30 V
SSI
AV1Y ROQ424SSI / Heidenhain 10 – 30 V
AV2Y AVM58X / Pepperl & Fuchs 9 – 30 V
AV7Y AMG73 S24 S2048 SSI-Kombi / Hübner 7 – 30 V
EG7S OG83 SN 10247 / Hübner 7 – 30 V
EH1S HOG74-DN1024R / Hübner 12 V
EH7S 8.AH02H.5192.1024 / Kübler 10 – 30 V
ES1S OG72S-DN1024R / Hübner 24 V
ES2S Sin/cos OG72S-DN1024R / Hübner 24 V
ES7S OG73 SN 1024 / Hübner 7 – 30 V
EV1S ROD486 1024 / Heidenhain 24 V
EV2S OG71S-DN1024R / Hübner 24 V
EV7S OG73 SN 1024 / Hübner 7 – 30 V

Appendix
Suitable encoders
18
SEW encoder desig- Manufacturer designation/manufac- Encoder voltage 1

Encoder system
nation turer supply
EG7R OG83 RN 1024 7 – 30 V
2
EG7T SEW 5V
EH1R HOG74-DN1024R / Hübner 24 V
3
EH1T HOG74-DN1024TTL / Hübner 12 V
EH7R 8.A02H.5142.1024 / Kübler 12 V
EH7T 8.A02H.5112.1024 / Kübler 5V
4
ES1R OG72-DN1024R / Hübner 24 V
ES1T OG72-DN1024TTL / Hübner 5 V1) 5
TTL
ES2R OG72-DN1024R / Hübner 24 V
ES2T OG72-DN1024TTL / Hübner 5 V1) 6
ES7R OG73 RN1024 7 – 30 V
EV1R ROD466 1024 / Heidenhain 10 – 30 V 7
EV1T ROD426 1024 / Heidenhain 5V
EV2R OG71-DN 1024R / Hübner 24 V 8
EV2T OG71-DN 1024TTL / Hübner 5 V1)
EV7R OG73 RN 1024 7 – 30 V
9
EG7C OG83 UN 1024 / Hübner 9 – 30 V
EH1C HOG 74 DN 1024 / Hübner 12 V
10
EH7C 8.A02H.5132.1024 / Kübler 12 V
EI71 SEW 9 – 30 V
EI72 SEW 9 – 30 V
11
EI76 HTL SEW 9 – 30 V
EI7C SEW 9 – 30 V 12
ES7C OG73 UN 1024 / Hübner 9 – 30 V
EV1C ROD436 1024 / Heidenhain 10 – 30 V 13
EV2C OG71 DN 1024 / Hübner 9 – 30 V
EV7C OG73 UN 1024 / Hübner 9 – 30 V 14
RH1L 12 V
Resolver Tyco Harowe
RH1M 12 V 15
1) Can only be used with option DWI11A
16
17
18
19
20
21
22

Appendix
Manufacturer designation/manu- Encoder voltage sup-

Encoder system
facturer ply
BTL5-S112-M1500-P-S32 / Balluf 24 V
BTL5-S112B-Mxxxx-P-xxx / Balluf 24 V
AMS 200/200 / Leuze 24 V
AMS 304i-xxx / Leuze 24 V
OMS1 / Leuze 24 V
WCS2 LS 311 / Pepperl & Fuchs 24 V
DME 3000-111 / SICK 24 V
DME 4000-xx1 / SICK 24 V
DME 5000-111 / SICK 24 V
AG626 / Stegmann 10 – 32 V
LE100 / T&R 24 V
LE200 / T&R 24 V
EDM / Visolux 24 V
OMS2 / Leuze 24 V
WCS2A-LS311, WCS3-LS311 / Pep-
24 V
perl & Fuchs
AMG73 S24 S2048 / Hübner 7 – 30 V
AMG83 S24 S2048 / Hübner 7 – 30 V
ARS60 / SICK-Stegmann 10 – 32 V
ATM60/90 / SICK-Stegmann 10 – 32 V
ARS60 / SICK-Stegmann 10 – 32 V
AVM58X-1212 SSI-Kombi / Pepperl
9 – 30 V
SSI & Fuchs
BPS37 / Leuze 10 – 30 V
CE58 / T&R 12 V
CE65 / T&R 12 V
HMG161 S24 H2048 24 V
Kueb 9081 xxxx2004 5 – 32 V
LIMAX2 / Elgo 10 – 30 V
MSA1000 / SiKO 24 V
OLM100-1001 / SICK 10 – 30 V
PCV80S-F200-SSI / Pepperl &
24 V
Fuchs
POMUX KH53 / SICK-Stegmann 10 – 32 V
RD4 / MTS Sensors 24 V
RF / MTS Sensors 24 V
RH / MTS Sensors 24 V
RP / MTS Sensors 24 V
ROQ424 SSI-Kombi / Heidenhain 10 – 30 V
ROQ425 ATEX / Heidenhain 5V
VDM100-150 / Pepperl & Fuchs 24 V
WCS2(A)-LS311 / Pepperl & Fuchs 24 V
WCS3(A)-LS311 / Pepperl & Fuchs 24 V
WCS3B-LS311 / Pepperl & Fuchs 24 V
GM401 / IVO 10 – 30 V

Appendix
Suitable encoders
18
Manufacturer designation/manu- Encoder voltage sup- 1

Encoder system
facturer ply
AG100 MSSI / Stegmann 10 – 32 V
2
LA 41K / T&R 24 V
SSI
Kueb 9081xxxx2003 5 – 32 V
3
FLS-C 10 (laser encoder) / Dimitex 24 V
ECN113 / Heidenhain 5V
ECN1313 / Heidenhain 12 V
4
EQN1125 / Heidenhain 12 V
EnDat EQN1325 / Heidenhain 12 V 5
EQN425 / Heidenhain 5V
ROQ425 / Heidenhain 12 V 6
ROQ425 ATEX/ Heidenhain 5V
DME4000-xx7 / SICK 24 V 7
DME5000-xx7 / SICK 24 V
LinCoder L230 12 V 8
SKM 36 / SICK-Stegmann 12 V
SKS 36 / SICK-Stegmann 12 V
9
Hiperface® SRM 50 / SICK-Stegmann 12 V
SRM 60 / SICK-Stegmann 12 V
10
SRM 64 / SICK-Stegmann 12 V
SRS 50 / SICK-Stegmann 12 V
11
12
13
14
15
16
17
18
19
20
21
22

Appendix
18.1.1 Encoder parameterization

The following points must be observed in the design and construction of encoders and
when setting their parameters:
• HEIDENHAIN ROQ 424 (AV1Y)

The SSI version with 10 ... 30 V is supported. The type designation specifies all ad-
ditional conditions.
• T&R CE 58, CE 65, LE 100 SSI, LE 200, LA 41K-SSI

– Make a setting of 24 data bits and program signal bits to logical 0. Bit no. 25 may
either contain 0 or an error or power fail bit. Other special bits following the posi-
tion will not be evaluated. The 25-bit version is not supported.
– The output mode must be "Direct".
– The interface must be set to "SSI".
• T&R CE 58 CANopen
– The termination switch must be set to "ON".
– The node ID must be set to 1 via the 6-fold DIP switch.
– The number of increments per revolution must be set to the standard value 4096.
• T&R LE200 CANopen

– Terminating resistor for bus termination required.
– The node ID must be set to 1 via the 8-fold DIP switch.
• SICK STEGMANN AG100 MSSI, AG626, ATM90, ATM60

Only the 24-bit version is supported.
• SICK STEGMANN ARS60

Only the 15-bit version is supported.
• SICK DME-5000-x111, DME-4000-x111

– The interface must be set to "SSI".
– You have to set "24 data bits + error bit".
– The resolution must be set to 0.1 mm or 1 mm.
– The plausibility must be set to "Normal".

Appendix
Suitable encoders
18
• SICK DME-5000-x17, DME-4000-x17 1

®
– The interface must be set to "Hiperface ".
– Set the resolution to 1 mm. 2
– The plausibility must be set to "Normal".
3
• SICK DME-4000-x19
4
– The interface must be set to "CANopen".
– The node ID must be set to 1. 5
– The resolution must be set to 0.1 mm or 1 mm.
– The plausibility must be set to "Normal". 6
7
• Pepperl & Fuchs WCS2(A)-LS311, WCS3(A)-LS311
The type designation specifies all necessary conditions. The line length to the en-
coder must not exceed 10 m.
8
9
• Pepperl & Fuchs EDM 30/120/140 - 2347/2440
– All modes are supported. Recommendation: Mode 0 (DIP switches 3 and 4 in ON 10
position) or mode 3 (DIP switches 3 and 4 in OFF position) and measuring for tri-
ple reflector (DIP switch 2 in OFF position).
11
• Pepperl & Fuchs VDM 100-150

12
– The operating mode must be set to mode 3 ([Menu] / [Parameters] / [operating
modes] / [Mode 3]).
13
– The coding must be set to "Gray".
– The resolution must be set to 0.1 mm or 1 mm. 14
• LEUZE AMS200, OMS1, OMS2, BPS37 15

– You have to set "24 data bits + error bit".
– Set the resolution to 0.1 mm.
16
17
INFORMATION 18
The following applies for all parameterizable SSI encoders:
– The interface must be set to "SSI". 19
– You have to set "24 data bits + error bit" or "0 in bit 25".
– Plausibility must be set to "normal = 0" when the plausibility check is activated.
– The coding must be set to "Gray". 20
21
22

Appendix
18 Cable dimensions to AWG
18.2 Cable dimensions to AWG

AWG stands for American Wire Gauge and refers to the size of the wires. This number
specifies the diameter or cross section of a wire in code. This type of cable designation
is usually only used in the USA. However, the designations can also be seen in catalogs
or data sheets in Europe.
AWG designation Cross section in mm2

000000 (6/0) 185
00000 (5/0) 150
0000 (4/0) 120
000 (3/0) 90
00 (2/0) 70
0 (1/0) 50
1 50
2 35
3 25
4 25
5 16
6 16
7 10
8 10
9 6
10 6
11 4
12 4
13 2.5
14 2.5
15 2.5
16 1.5
16 1
18 1
19 0.75
20 0.5
21 0.5
22 0.34
23 0.25
24 0.2

Appendix
List of abbreviations
18
18.3 List of abbreviations 1
2
Abbreviation Definition Meaning
Reference potential for brake
BGND 3
connection
CAN Controller Area Network
CCU Configurable Control Unit 4
Reference potential for digital
DCOM
inputs
General reference potential of
5
DGND
control electronics. There is a
PE metallic connection to PE.
6
DI Digital In
Deutsches Institut für Normung e.V. (German
DIN 7
institute for standardization)
EN European Standard whose German version
DIN EN
has the status of a German standard.
8
ISO standard that has been made a European
DIN EN ISO standard and has been adopted into the German
book of standards.
9
International standard that has been adopted
DIN IEC
without changes into the German standard.
DO Digital Out 10
EN Europäische Norm (European standard)
FCB Function Control Block Modular firmware structure 11
The safety functions offered by
FS Functional Safety
the unit
12
GND Ground
HTL High-voltage Transistor-Logics
International Protection = international type of
13
IP
enclosure
The ISO creates ISO standards 14
ISO International Organisation for Standardization that should be adopted unrevised
by the member states.
PDO Process Data Object Process data 15
PE Protected Earth: Equipment grounding conductor Ground connection
PELV Protective Extra Low Voltage Extra-low voltage 16
PWM PulseWidth Modulation
RGND
Reference potential for safety
relay
17
SELV Safety Extra Low Voltage
SS1 / SS2 Safe Stop 1 / Safe Stop 2 Safe Stop 1 / 2 18
STO Safe Torque Off Safe torque off
Thermostat/Temperaturfühler (temperature sen- 19
TH/TF
sor)
TTL Transistor-Transistor-Logics
20
Certification issued in North
UL UL Underwriters Laboratories Inc.
America
C ® ®
21
ZK DC link
22

Appendix
18 Terms and definitions
18.4 Terms and definitions

CAN bus system Serial bus system for the automotive industry and industrial control devices. The bus medium is a twisted
conductor pair with excellent transmission characteristics in the short-distance range of less than 40 m.
PROFIBUS PROFIBUS (Process Field Bus) is a standard for fieldbus communication used in automation engineer-
ing.
K-Net The XFA (K-Net) communication module is a slave module for connection to a serial bus system for high-
speed data transfer.
EtherCAT® The XFE24A communication component is a slave module for connection to EtherCAT® networks.
Multi-encoder card The multi-encoder card enables evaluation of additional encoders.
EMC compliant housing EMC compliant housings form a shield against electrical, magnetic or electromagnetic fields. These
interference fields are generated by electrostatic discharges occurring during switching sequences, dur-
ing rapid current or voltage changes, during operation of motors or high-frequency generators and simi-
lar situations. These EMC compliant housings are usually equipped with an EMC cable gland.
EMC cable gland Seal of cable entry with option to apply a cable shield or contacting.
IP code A coding system to indicate the degrees of protection offered by a housing against access to dangerous
parts, ingress of solid foreign objects and the ingress of water.
Insulation resistance Insulating property of a material to separate two neighboring contacts or one grounded contact at a rela-
tively high resistance value.
Insulating materials Insulation in plug connectors is ensured by using thermoplastics and thermosetting plastic. The selected
material depends on the required thermal and mechanical properties.
Cable Cables can consist of one or more cores, come equipped with insulating sleeves, shields and a sheath
for the protection of structural elements. Cables connected to plug connectors are mainly flexible cables,
flat cables, sheathed cables, shielded cables, and coaxial cables.
Firmware Software provided by the manufacturer that cannot be changed by the user.

Appendix
Declarations of conformity
18
18.5 Declarations of conformity 1
2
EC Declaration of Conformity
900100010
3
SEW-EURODRIVE GmbH & Co KG
Ernst-Blickle-Straße 42, D-76646 Bruchsal 4
declares under sole responsibility that the
frequency inverters of the series MOVIAXIS® 80A 5

are in conformity with
Low Voltage Directive 2006/95/EC

6
EMC Directive 2004/108/EC 4)

7
applied harmonized standards EN 61800-5-1:2007
EN 61800-3:2007
8
4) According to the EMC Directive, the listed products are not independently operable products. EMC
assessment is only possible after these products have been integrated in an overall system. The
assessment was verified for a typical system constellation, but not for the individual product.
9
10
11
12
13
14
15
16
17
Bruchsal 11.12.09
Johann Soder
18
Place Date Managing Director Technology a) b)
a) Authorized representative for issuing this declaration on behalf of the manufacturer 19

b) Authorized representative for compiling the technical documents
20
21
22

Appendix
18 Declarations of conformity
900110010

Ernst-Blickle-Straße 42, D-76646 Bruchsal
frequency inverters of the series MOVIAXIS® 81A
are in conformity with
Machinery Directive 2006/42/EC 1)
Low Voltage Directive 2006/95/EC
applied harmonized standards EN 13849-1:2008 5)

EN 60204-1:2007
EN 61800-5-1:2007
EN 61800-3:2007
1) These products are intended for installation in machines. Startup is prohibited until it has been
established that the machinery into which these products are to be incorporated complies with the
provisions of the aforementioned Machinery Directive.
5) All safety-relevant requirements of the product-specific documentation (operating instructions,
manual, etc.) must be met over the entire product life cycle.
Bruchsal 11.12.09
Johann Soder
a) Authorized representative for issuing this declaration on behalf of the manufacturer


Appendix
Declarations of conformity
18
1
900120010
2
SEW-EURODRIVE GmbH & Co KG 3

Ernst-Blickle-Straße 42, D-76646 Bruchsal
4
frequency inverters of the series MOVIAXIS® 82A
are in conformity with 5

Machinery Directive 2006/42/EC 1)
Low Voltage Directive 2006/95/EC 6

7
applied harmonized standards EN 13849-1:2008 5)
EN 61800-5-2: 2007
EN
EN
60204-1:2007
61800-5-1:2007
8
EN 61800-3:2007
EN 201: 1996
9
1) These products are intended for installation in machines. Startup is prohibited until it has been
established that the machinery into which these products are to be incorporated complies with the
provisions of the aforementioned Machinery Directive.
10
11
5) All safety-relevant requirements of the product-specific documentation (operating instructions,
manual, etc.) must be met over the entire product life cycle.
12
13
14
15
16
Bruchsal 11.12.09 17
Johann Soder
18
a) Authorized representative for issuing this declaration on behalf of the manufacturer
19
20
21
22

Index
Index
A Bus terminating resistor for CAN/signal bus

Absolute positioning ...............................................76 connection ....................................................... 623
Accelerator coil ......................................................80 Bus termination.................................... 132, 133, 603
Accessories for two-row configuration of the axis
system................................................................65 C
Active control value management ..........................69 Cable cross sections and fusing .......................... 162
Additional documentation.....................................231 Cable specification of (brake)motor cables.......... 183
Additional system and automation components.....10 Cables for DR and DRL motors ...........................189
Application and system limit values .......................79 Cables for supply system connection, motor, motor
Application and system limits .................................69 brake, braking resistor, and fuses....................162
Application requirements..................................31, 34 CAN transmission rate ......................................... 621
Approvals ...............................................................98 CAN-based application bus CAN2.........................55
Area of application .................................................12 CAN-based system bus ....................................... 620
Areas of application and automation options .........30 CAN-based system bus, SBus ..............................52
Master module ...................................................30 CAN1 cabling.........................................................53
Arrangement of axes............................................413 CAN1 is included in the scope of delivery .............53
Assignment table for optional accessories.............67 CAN2 application bus ............................................55
Assignment table for standard accessories ...........64 CAN2 axis address ..............................................627
Asynchronous servomotors..................................222 CAN2 bus connection .......................................... 629
Automated startup and controller optimization.......70 CAN2 for additional tasks ......................................55
Automatic data storage ..........................................33 Capacitor modules MXC
Auto-tuning / easy tuning .......................................70 Unit data ............................................................28
Axis module nameplate........................................494 CE marking and UL approval.................................98
Axis-integrated commutation detection/encoder CE-marking............................................................98
alignment ...........................................................86 Centralized communication ...................................32
CFC control mode..................................................68
B Characteristic criteria of MOVIAXIS®.....................12
Basic control modes...............................................75 Characteristic values of the controllers ................ 416
Basic functions, installation, and wiring..................80 Combinable modules when using a BST
MOVILINK® ........................................................82 connection kit................................................... 518
Baud rate .............................................................132 When using a master module and a capacitor
module ............................................................. 525
Bending spaces - note .........................................533
Combinable modules when using a BST
Benefits and key features of MOVIAXIS® ..............11
connection kit
Digital inputs and outputs.......................................81
CAN based ...................................................... 518
BP brake
EtherCAT® compatible .................................... 522
Operating currents ...........................................483
Scope of delivery ............................................. 526
Brake control ........................................................483
Combination and communication options with and
Brake control system..............................................80
without master module.......................................49
Brake monitoring ....................................................86
With master module...........................................51
Brake rectifier in the control cabinet.....................558
Without master module......................................49
Brake test ...............................................................86
Combination overview of DRL with
Braking resistors MOVIAXIS® .............................................439, 455
Connection.......................................................556 Combinations of MOVIAXIS® axis systems
Operation .........................................................556 MOVIAXIS®, MOVIDRIVE®, MOVITRAC® ........62
Buffer modules MXB Communication .................................................... 624
Unit data.............................................................28 Communication paths ............................................49

Index
Communication profiles..........................................82 Connection of CAN2 ............................................ 628

Communication via CAN adapter.........................630 Connection of TTL encoder to multi-encoder card
Connection assignment of connection and XGH11A, XGS11A...........................................598
extension cables ..............................................626 Connection kit for BST
Connection assignment of X12 (pin) on the axis Scope of delivery ............................................. 526
module .............................................................628 Connection technology ........................132, 133, 603
Connection assignment of X12 (pin) on the supply Connection technology of the multi-encoder card
module .............................................................626 XGH11A, XGS11A...........................................592
Pin assignment of connection and extension Connection technology of the multi-encoder card
cables...............................................................628 XGH11A/XGS11A..............................................39
Communication with MOVI-PLC Power .................60 Connection via fieldbus interfaces or via CAN-based
Commutation detection of permanent-field application bus CAN2 ........................................49
synchronous motors...........................................86 Communication paths ........................................49
Commutation detection with rotor movement.........86 Fieldbus connection...........................................49
Commutation detection without rotor movement....87 Control behavior ..................................................417
Compact power supply module 10 kW MXP81 Control modes, machine control, and auto-tuning .68
Optional accessories..........................................16 Auto-tuning / easy tuning ...................................70
Unit data.............................................................15 Expert tuning......................................................71
Compact supply module 10 kW MXP81 Control value management....................................69
Scope of delivery ...............................................16 Controlled stop.......................................................87
Configurable application controller (CCU)............230
Configurable control units CCU..............................35 D
Configuration Data exchange between the axes .........................53
Encoder parameterization................................730
DC link discharge modules MXZ
Connectable encoders ...........................................22 Unit data ............................................................29
Connecting AC brakemotors ................................483 Diagnostics and scope function .............................84
Connecting cables, operating switches................620
Digital inputs / digital outputs ............................... 540
Connecting CAN1 cables to the supply module...626 Dimension drawing ..............................................156
Connecting encoders to the basic unit Dimension drawings
General installation notes ................................614
Line choke ND020.. / ND045.. / ND085........... 148
Prefabricated cables ........................................614 Line choke ND150.. ......................................... 148
Shielding ..........................................................614 Line filters NF018-503 / NF048-503 /
Connecting power to the axis system ..................619 NF085-503 / NF150-503..................................146
Connection – fieldbus network gateway or Displays of the supply and axis modules ............. 676
MOVI-PLC® motion control ................................51 Disposal ...............................................................725
CAN-based CAN2 application bus.....................55
Disposal of MOVIAXIS® units ..............................231
CAN-based SBus system bus............................52
DP ID number ...................................................... 132
CAN1 included in delivery..................................53
Dual drive...............................................................72
EtherCAT®-compatible SBusPLUS
DWI11A .......................................................140, 599
system bus.........................................................57
EtherCAT®, CAN1, CAN2 ..................................51
E
Fast data exchange between the axes ..............53
SBus, SBusplus .................................................51 EcoLine filter for supply and
regenerative modules ...................................... 155
Connection and terminal description of the multi-
encoder card XGH11A, XGS11A.....................595 Electrical accessories ............................................65
Connection kit for BST Electrical installation ............................................ 541
Electrical installation ........................................545
Installing the DC link connection......................723
Mechanical installation.....................................536
Technical data..................................................131

Index
Electromagnetic compatibility Fieldbuses .............................................................32

Interference emission.......................................616 Flexibility and great user benefits ..........................30
Interference emission categories .....................616 Flexible and adaptable...........................................11
Line filter ..........................................................616 Forced cooling fan cable for CMP
Separate cable ducts .......................................615 and CFM motors ..............................................186
Shielding and grounding ..................................615 Four-quadrant operation ........................................69
Electronic cam .......................................................79 Freely programmable controller (MOVI-PLC®) ....229
Electronic motor nameplate ...................................81 Functional safety / safety functions........................88
Embedded safety notes .......................................484 Functions integrated in the unit..........................88
Encoder and extension cables for asynchronous Safety concept ...................................................88
motors ..............................................................205 Safety functions .................................................89
Encoder and extension cables for synchronous Units with one safety relay.................................91
motors ..............................................................194 Units with two safety relays ...............................91
Encoder cable ......................................................191 Functions integrated in the unit..............................88
Encoder monitoring ................................................87
Energy meter .........................................................84 G
Energy saving functions and grid compatibility ......82
Gear units from SEW-EURODRIVE ....................228
Engineering and operating software
General ................................................................ 141
Tools and functionality .......................................94
Good software support ..........................................11
Engineering and operating software MOVITOOLS®
Grid compatibility and harmonics reduction ...........83
MotionStudio ......................................................92
GSD file ...............................................................132
Error display of the 7-segment display.................676
Errors in the supply module .............................676
H
Error list................................................................677
Explanation of terms ........................................677 Harmonics reduction and grid compatibility ...........83
EtherCAT® XFE24A fieldbus interface...........40, 603 Highly dynamic drive solution ................................11
EtherCAT®-based system bus .............................631 High-speed gateway ..............................................32
EtherCAT®-compatible system bus SBusPLUS ....57 Hoist applications.................................................619
EtherCAT®, CAN1, CAN2 ......................................51 Hold control............................................................78
Evaluation of various encoders ..............................81 Hysteresis for position window ..............................73
Expert tuning ..........................................................71
Extended storage .................................................724 I
ID number ............................................................132
F IEC 61131 standard...............................................35
FCB concept and PDO Editor ................................94 In position signal ....................................................73
FCB Function Control Block...................................95 Inductance compensation......................................69
Fieldbus connection ...............................................49 Input/output card option, type XIA11A ...................43
Fieldbus interface EtherCAT® XFE24A Input/output card option, type XIO11A...................42
Technical data..................................................603 Input/output card type XIA11A............................. 608
Fieldbus interface K-Net XFA11A ........................612 Connection diagram......................................... 609
Fieldbus interface PROFIBUS XFP11A .........39, 600 Module behavior ..............................................608
Baud rates greater than 1.5 Mbaud .................601 Short circuit...................................................... 608
Connector assignment .....................................600 Supply..............................................................608
MOVIAXIS® – PROFIBUS connection.............601 Switching digital outputs in parallel..................608
Setting the station address ..............................602 Switching inductive loads.................................608
Terminal assignment..................................39, 600 Terminal assignment .................................43, 609

Index
Input/output card type XIO11A.............................605 Line filter for supply and regenerative modules ... 152
Connection diagram.........................................606 Line filters for 3-phase systems ...........................160
Module behavior ..............................................605 Line fuses, fuse types .......................................... 539
Short circuit ......................................................605
Supply ..............................................................605 M
Switching digital outputs in parallel ..................605 Machine control .....................................................68
Switching inductive loads.................................605 Master module MXM
Terminal assignment..................................42, 606 Optional accessories .........................................26
Installation and connection accessories.................63 Master modules MXM
Assignment table for optional accessories.........67 Unit data ............................................................25
Assignment table for standard Variants..............................................................25
accessories ..................................................64, 65 Mech. accessories .................................................64
System bus and connection cables – optional Minimum clearance and mounting position ......... 533
accessories ........................................................66
Modulo in negative direction with absolute position
Installation and function combinations of the option
specification .......................................................77
cards ................................................................587
Modulo in negative direction with relative position
CAN unit variants .............................................587 specification .......................................................77
Combinations with EtherCAT®-compatible system Modulo in positive direction with absolute position
bus ...................................................................590 setpoint ..............................................................76
Combinations with XGH, XGS only..................589
Modulo in positive direction with relative position
Combinations with XGS only ...........................589 setpoint ..............................................................77
Fieldbus combinations .....................................588 Modulo with relative position specification .............77
XIA combinations .............................................589 Modulo with shortest distance with absolute position
XIO combinations.............................................588 specification .......................................................77
Installation variants, combination and communication Monitoring, protection, and test functions ..............85
options ...............................................................44 Motion control ........................................................35
Arrangement of individual system elements in the Motion control and technology functions ...............71
axis system ........................................................44
Basic control modes ..........................................75
Integrated in the SEW modular system..................11 Dual drive...........................................................72
Interpolated position control ...................................77 In position signal ................................................73
Interpolated speed control .....................................76
Interpolated speed control .................................76
Interpolated torque control .....................................75 Interpolated torque control.................................75
Jerk-limited profile generator .............................73
J Position control ..................................................76
Jerk-limited profile generator..................................73 Reference travel ................................................74
Jog mode ...............................................................78 Speed control.....................................................75
Target position monitoring .................................71
K Torque control....................................................75
Kinematics/robotics ................................................35 4 kHz operation..................................................73
Motor assignment ................................................ 439
L Motor characteristics............................................ 418
Line and brake contactors....................................539 Motor selection for CMD
synchronous servomotors................................ 434
Line choke for power supply module....................147
Motor selection for CMP
Line choke for supply and regenerative modules.149
synchronous servomotors................................ 422
Line choke for supply module ..............................145
MOVIAXIS® startup – multi-motor operation ....... 667
Line components for supply and regenerative
MOVIAXIS® system overview..................................7
modules ...................................................149, 158

Index
MOVIAXIS® with fieldbus or network gateway MXB buffer modules ..............................................28

Application requirements ...................................31 Scope of delivery ...............................................28
Automatic data storage ......................................33 MXC capacitor module ........................................413
Centralized communication................................32 MXC capacitor modules.........................................28
Customer benefits..............................................32 Scope of delivery ...............................................28
Motion control integrated in the axis controller ..32 MXM master module............................................ 413
No changes to the PLC......................................32 MXM master modules ............................................25
Wizard support...................................................32 Scope of delivery ...............................................26
MOVIAXIS® with integrated MOVI-PLC® MXP power supply module ..................................413
Application requirements ...................................34 MXP power supply modules ..................................13
Customer benefits..............................................35 MXP supply module............................................. 413
Target applications.............................................34 MXP81 compact power supply module 10 kW ......15
MOVILINK® ............................................................49 MXR supply and regenerative modules...........17, 19
MOVI-PLC® high-end motion control .....................35 MXS 24 V switched-mode power supply module 414
MOVI-PLC®, MOVI-PLC® I/O ..............................229 MXS 24 V switched-mode power supply unit
MOVISAFE® safety monitor, UCS series...............91 Scope of delivery ...............................................27
MOVITOOLS MotionStudio..................................632 MXZ DC link discharge modules ...........................29
Multi-axis scope .....................................................84 Scope of delivery ...............................................29
Multi-encoder card option XGH11A, XGS11A
Suitable encoders ............................................592 N
Multi-encoder card XGH11A, XGS11A Nameplate of the power supply module ..............494
Connection and terminal description................595 Nameplates and type designations...................... 493
Connection technology ....................................592 NDR.. line choke ..................................................158
Connection technology of TTL encoder ...........598 New startup.......................................................... 633
PIN assignment X61 ........................................595 With master module......................................... 633
PIN assignment X62 ........................................595 Without master module.................................... 633
PIN assignment X63 XGH with EnDat 2.1 .......596 No changes to the PLC..........................................32
PIN assignment X63 XGH with Non-linear torque characteristic curve ...................68
Hiperface® encoder .........................................596
Non-SEW motors .................................................224
PIN assignment X63 XGH X64 XGS with TTL Notes
encoder, sin/cos encoder.................................595
Designation in the documentation ................... 484
PIN assignment X64 XGS with SSI (AV1Y).....597
Number of modules in the axis system ..................45
Supply of the multi-encoder card .....................592
Multi-encoder card XGH11A, XGS11A option
O
PIN assignment X64 XGS with SSI .................597
Multi-encoder card XGH11A/XGS11A Operating currents for BP brakes ........................483
Connection technology ......................................39 Operating display and errors of the supply module
Limitations for the evaluation of inputs.............592 Table of displays..............................................679
Wiring diagrams ...............................................593 Table of errors .................................................679
Multi-encoder card XGH11A/XGS11A option Operating display of the 7-segment display......... 676
Suitable encoders ..............................................39 Operating displays and errors of the axis module
MXA axis modules .........................................21, 414 Table of displays..............................................680
Encoders for the axis module ............................22 table of errors................................................... 682
Optional accessories..........................................24 Operating displays, MXB buffer module ..............712
Scope of delivery ...............................................24 Operating displays, MXC capacitor module......... 712
Standard functionality ........................................22 Operating displays, 24-V SMPS module ............. 713
Unit data.............................................................23 Operation ............................................................. 675
MXB buffer module ..............................................413 Option cards for expansion and more flexibility .....37
Option combinations ............................................ 527

Index
Option combinations on delivery D-sub ...............................................................205

Axis modules with EtherCAT® .........................529 Encoder cable with M23 and D-sub.................206
Axis modules (XGH variant).............................528 Encoder extension cable with conductor end
Axis modules (XGS variant).............................528 sleeves and M23..............................................209
Axis modules (XIA variant)...............................528 Encoder extension cable with connection cover
Axis modules (XIO variant) ..............................528 and M23...........................................................208
Optional accessories Encoder extension cable with two M23 ...........210
System bus and connection cables ...................66 Prefabricated cables for motor and encoder
connection
Optional communication assembly XFA11A (K-Net)
Encoder and extension cables for SL2 linear
Terminal assignment........................................612
motors..............................................................180
Overload protection of the braking resistor ..........478
Preventive overload detection ...............................85
Product description –
P CFM synchronous servomotors....................... 218
Parameter list .......................................................674 Product description –
Parameterization data ..........................................132 CMP synchronous servomotors....................... 217
Password administration ........................................87 Product description – CMS electric cylinders ...... 220
PC Diagnostics ....................................................625 Product description – DRL asynchronous
PDO Editor .....................................................95, 670 servomotors .....................................................222
Assigning the input buffer to the Product description – SL2 series linear motors ... 221
system variables ..............................................673 Product description of CMDV synchronous
Parameter setting example ..............................671 servomotors .....................................................219
Setting the FCB parameters ............................673 Product description of synchronous CMPZ
servomotors .....................................................217
Setting the fieldbus interface parameters ........671
Project planning for a power supply module ........410
Setting the parameters of the control word and the
IN process data................................................672 Project planning for 24 V supply power ............... 479
Structure and data flow ....................................670 Protection covers of the modules ........................554
Testing the configurations................................674 Protocol variants ..................................................132
Performance class CCU advanced ......................230 PWM 16 kHz ........................................................412
Performance class MOVI-PLC® advanced ..........229 PWM 4 kHz and 8 kHz......................................... 412
Permitted tightening torques
Power terminals ...............................................617 R
Permitted voltage supply systems........................540 Rear view of housing and bore patterns ......104, 531
PLC and motion control .........................................35 Reference travel ....................................................74
PLC Editor..............................................................94 Relative positioning................................................76
Position control ......................................................76 Removing/installing a module ..............................715
Power cable for CMP, CMDV, and Installing an axis module .................................719
CMS50/63 motors ............................................168 Removing an axis module ............................... 716
Power cable for synchronous servomotors ..........165 Safety notes.....................................................715
Power cables for asynchronous motors ...............188 Repair ..................................................................714
Power cables for CFM and CMS71 motors..........175 Requirements on the voltage tolerance of the 24 V
Power supply modules MXP supply ..............................................................482
Optional accessories..........................................14 Responses to error acknowledgement ................ 677
Unit data.............................................................13 CPU reset ........................................................677
Prefabricated cables System restart..................................................678
Encoder cable with conductor end sleeve Warm start ....................................................... 678
and D-sub ........................................................207
Encoder cable with connection cover and S
Safe stop 1 (SS1) ..................................................90
Safe torque off (STO) ............................................89

Index
Safety concept .......................................................88 Supply and regenerative modules MXR

Safety functions .............................................89, 487 Necessary accessories................................18, 20
Safety notes Optional accessories ...................................18, 20
Design of section-related .................................484 Scope of delivery .........................................18, 20
Design of the embedded..................................484 Unit data ......................................................18, 20
Designation in the documentation....................484 Supply modules MXP
Saving the settings.................................................33 Scope of delivery ...............................................14
SBus, SBusplus .....................................................51 Supply of the multi-encoder card ......................... 592
Section-related safety notes ................................484 Switched integrators ..............................................69
Selection table for power supply module with/without Switched-mode power supply module MXS 24 V ..27
line choke.........................................................411 Switched-mode power supply unit 24 V MXS
Separate operation of the modules ........................44 Unit data ............................................................27
Service .................................................................714 Synchronous operation/electronic gear unit ..........80
Setting the axis address.......................................621 System accessories............................................. 141
Settings for CAN2 bus .........................................625 System bus and connection cables – optional
SEW communication server...................................94 accessories........................................................66
SEW Workbench functions ............................97, 409 System bus connection cable to other SEW units .54
Signal bus line for several axis systems System bus connection cable to other SEW units –
EtherCAT®-based system bus .........................552 EtherCAT®-compatible ......................................59
Signal words in the safety notes ..........................484 System buses ........................................................32
Single and dual-bus supply ..................................481
Software and hardware limit switches....................74 T
Speed control .........................................................75 Target applications ................................................31
SS1 (Safe Stop 1) ..................................................90 Target position monitoring .....................................71
Standard accessories ............................................63 TCP/IP, USB..........................................................33
Standard functionality of the axis modules.............22 Technical data .......................................................98
Standards and approvals .......................................81 Axis module – control section .......................... 118
Startup .................................................................619 Axis module - dimension sheet size 1, size 2 .. 119
Startup of MOVIAXIS® – Single-motor operation.634 Axis module – dimension sheet size 3, size 4, size
Startup of MOVIAXIS® MX 5, size 6 ...........................................120, 121, 122
Current settings................................................636 Braking resistors ..............................................141
Encoder management of SEW encoders.........640 Buffer module ..................................................126
Example – multi-motor operation .....................668 Capacitor module............................................. 125
Example – rotary encoder as Capacitor module – control section .................125
distance encoder..............................................662 Control unit ...................................................... 114
Example 2 – linear encoder as DC link discharge module - control section .....129
position encoder...............................................664 DC link discharge module - dimension sheet .. 130
System configuration .......................................638 DC link discharge module - power section ...... 129
Startup software ...................................................632 Dimension drawing .......................................... 156
Station address ....................................132, 133, 603 DWI11A ...........................................................139
STO (safe torque off) .............................................89 EcoLine filter for supply and
Structure of an axis system....................................11 regenerative modules ...................................... 155
Suitable encoder systems ....................................225 EtherCAT® fieldbus interface...........................133
Suitable encoders for the multi-encoder card option General technical data.....................................103
XGH11A/XGS11A..............................................39 K-Net communication module.......................... 134
Suitable encoders, multi-encoder card option K-Net communication module – technical data134
XGH11A, XGS11A...........................................592
K-Net communication module – terminal
Suitable motors ....................................................217

Index
assignment.......................................................134 Thermal online monitoring .....................................85

Line components for supply module ................145 Three-wire brake....................................................80
Master module – dimension sheet ...................124 Tightening torque for the cover bolts ................... 554
MXA axis modules ...........................................116 Tools and functionality ...........................................94
MXB buffer module ..........................................126 Torque and speed precontrol.................................68
MXC capacitor module.....................................125 Torque control........................................................75
MXM master module........................................123 Torque control with speed range limiting ...............69
MXP supply modules .......................................106 Touch guard cover ...............................................555
MXR supply and regenerative modules ...........112 Touch probe...........................................................80
MXS 24 V switched-mode power Two-row configuration of the axis system........45, 46
supply module..................................................127 Accessories .......................................................65
MXZ DC link discharge module .......................129 Scope of delivery ...............................................47
Option cards for axis modules and regenerative Type designation .................................................100
modules ...........................................................132 Type designation for MOVIAXIS® optional
Power supply module – control section ...........108 assemblies....................................................... 497
Power supply module - dimension
sheet size 1......................................................109
U
Power supply module - dimension sheet size 2,
size 3................................................110, 111, 115 Unit designation for MOVIAXIS® basic units100, 495
Two-row configuration of the axis system........130 Unit output – permitted connection ...................... 540
Unit structure
XFP11A communication component................132
XGS11A, XGH11A multi-encoder card ............138 Axis module, size 1.......................................... 504
XIO11A, XIA11A input/output option................135 Axis module, size 2.......................................... 505
Axis module, size 3.......................................... 506
24 V SMPS module – dimension sheet ...........128
24 V switched-mode power supply module .....127 Axis module, size 4.......................................... 507
5 V encoder supply DWI11A....................140, 599 Axis module, size 5.......................................... 508
Axis module, size 6.......................................... 509
Technical data for the axis module
Notes on brake control.....................................117 Buffer module ..................................................514
Permitted load of brake control and brake .......117 Capacitor module............................................. 513
DC link discharge module................................ 516
Technical data of line choke option for power supply
module .............................................................147 EtherCAT®-based variant of the axis modules 510
Technical data of master module MOVI-PLC® advanced master module............ 512
Electronics data ...............................................481 Power supply module, size 1 ...........................499
Technical data of the optional line components for Power supply module, size 2 ...........................501
supply and regenerative modules ............149, 158 Power supply module, size 3 ...........................502
Technical data of the power supply module Supply and regenerative module,
Power section ..................................................108 sizes 1 and 2.................................................... 503
Technology and unit functions ...............................68 Unit temperature ..................................................478
Technology editor ..................................................94 Units structure of the 24 V switched-mode power
supply module..................................................515
Temperature compensation ...................................69
Temperature sensor in the motor.........................539 Units with one safety relay.....................................91
Terminal assignment Units with two safety relays ...................................91
User-defined units for all process data ..................78
MXA axis modules ...........................................581
MXB buffer module ..........................................584
MXC capacitor module.....................................584 V
MXM master module........................................583 Virtual encoder.......................................................80
MXP power supply modules ............................578
MXS 24 V switched-mode power W
supply module..................................................585 Wiring diagrams
Thermal braking power ........................................474 Axis modules - connection diagram of digital inputs

Index
and outputs ......................................................572 10052.7 Position difference .................................388

Axis modules – Wiring of control electronics ...571 10052.8 Lag error response ................................ 389
Brake control....................................................566 10052.9 Lag error window ................................... 389
Buffer module – Wiring of control electronics ..575 10054.1 Measured encoder offset ....................... 379
Capacitor module – Wiring of control 10054.11 Preset offset......................................... 379
electronics........................................................574 10054.2 Write position encoder adjustment ........379
General information .........................................558 10054.3 Encoder adjustment status ....................378
Master module - wiring.....................................573 10054.4 Write control encoder adjustment .......... 378
Supply module - Wiring of control electronics..570 10054.5 Measuring current ..................................379
Supply, axis, capacitor/buffer module ..............559 10054.6 Mode...................................................... 373
24 V switched-mode power supply module - 10054.7 Write status............................................ 378
wiring................................................................576 10056.1 / 10056.2 / 10056.3 Velocity threshold "Motor
Wiring diagrams of the multi-encoder card at standstill" – status bit ................................... 274
XGH11A/XGS11A............................................593 10057.1 / 10057.2 / 10057.3 Filter time "Motor at
Wizard support .......................................................32 standstill" – status bit ....................................... 274
10058.1 / 10058.2 / 10058.3 Switched integrator 260
X 10059.1 NMax source.......................................... 263
XGH11A/XGS11A multi-encoder card ...........38, 591 10059.3 Source of maximum speed balance
XSE24A EtherCAT®-compatible system bus.41, 604 controller remote axis 3 ................................... 388
10060.1 NMin source...........................................263
10060.1 Source of minimum speed balance controller
0 ... 9
remote axis 1 ................................................... 388
0198 828X............................................................213
10061.1 NMax local ............................................. 263
0198 8298 ............................................................213
10062.1 NMin local ..............................................263
0199 5391 ....................................................198, 211
10063.1 / 10063.2 / 10063.3
0199 5405 ....................................................198, 211 (not in parameter tree) .....................................275
0199 5413 ............................................................195 10064.1 / 2 / 3 Positive software limit switch ....... 273
0199 5421 ............................................................195 10065.1 Select parameter set..............................398
10046.11 / 10046.12 / 10046.13 Temperature sensor 10068.1 Actual position ....................................... 346
type ..................................................................268
10068.1 Position ..................................................232
10052.1 Setpoint cycle lateral communication for
10069.1 Model .....................................................246
position balancing ............................................387
10070.1 Model .....................................................247
10052.10 Current lag error dual drive ..................389
10071.1 Sub fault code........................................240
10052.11 Torque limitation mode.........................389
10072.1 Sub fault.................................................247
10052.12 Torque limit 1 / 2 / 3 / 4 source.............389
10118.1 Sync mode CAN1 ..................................305
10052.13 Torque limit 1 local ...............................389
10118.2 Sync mode CAN2 ..................................305
10052.2 P-gain position balance controller ..........387
10120.1 Velocity ..........................232, 381, 390, 397
10052.20 Positive transition speed ......................390
10201.1 / 10201.2 / 10201.3 Setpoint limit position
10052.21 Negative transition speed ....................390
controller .......................................................... 262
10052.22 Positive transition mode .......................389
10438.1 Measured encoder offset ....................... 396
10052.23 Negative transition mode .....................390
10438.10 Write status.......................................... 396
10052.25 Position adjustment threshold ..............387
10438.3 Mode...................................................... 392
10052.26 Lag error window dual drive adjustment
10438.3 Wait until write operation ....................... 396
phase ...............................................................388
10438.4 Write control...........................................395
10052.27 Maximum synchronizing speed............387
10444.1 / 10444.2 / 10444.3 Actual position ....... 344
10052.28 FCB 22 Mode .......................................388
10445.1 Deceleration source............................... 397
10052.3 Velocity setpoint source .........................388
10445.2 Deceleration local ..................................397
10052.30 FCB position balancing source ............389
10445.3 Jerk source ............................................ 397
10052.4 Velocity setpoint local ............................388
10445.4 Local jerk ...............................................397
10052.5 Position balancing setpoint source.........388
10445.5 Stop with position control....................... 396

Index
10445.6 Bit 0 stop with position control active .....397 8584.0 / 8586.0 / 8587.0 Brake function ..............270
1332 4535 ............................................................197 8585.0 / 8586.0 / 8587.0 Brake application time .268
1332 4543 ....................................................199, 200 8596.0 Reset statistic data ..................................399
1332 4551 ............................................................197 8600.0 CAN1 address ......................................... 304
1332 4578 ....................................................199, 200 8603.0 CAN1 baud rate ....................................... 304
1332 7429 ............................................................194 8606.0 Timeout.................................................... 307
1332 7437 ............................................................194 8617.0 Manual reset ....................................240, 407
1332 7445 ............................................................196 8749.0 / 8750.0 / 9745.3 Brake release time ....... 267
1332 7453 ............................................................196 8904.0 / 8905.0 / 10046.1 (not in parameter tree)275
1332 7623 ............................................................196 8932.0 CAN2 address ......................................... 304
1332 7631 ............................................................196 8937.0 CAN1 protocol selection .......................... 303
1332 7658 ............................................................200 8938.0 CAN2 protocol selection .......................... 303
1332 7666 ............................................................200 8939.0 CAN2 baud rate ....................................... 304
1333 1493 ............................................................211 9500.6 Actual speed ............................................ 247
1333 1507 ............................................................211 9501.50 Velocity ..................................................246
1333 1515 ............................................................212 9501.51 Velocity ..................................................246
1333 1523 ............................................................212 9501.52 Velocity ..................................................246
1333 1531 ............................................................214 9501.53 Velocity ..................................................246
1333 2236 ............................................................201 9502.1 Resolution................................................ 246
1333 2244 ............................................................201 9503.1 Numerator................................................ 246
1333 3879 ............................................................202 9503.10 Denominator .......................................... 246
1362 1963 ............................................................208 9504.1 Frequency................................................ 249
1362 1971 ............................................................210 9505.1 Output voltage ......................................... 247
1362 3184 ............................................................209 9506.6 Actual position ......................................... 248
1362 3192 ............................................................210 9507.50 Position ..................................................246
1363 1632 ............................................................205 9508.1 Resolution................................................ 245
1363 1640 ............................................................205 9509.1 Numerator................................................ 246
1363 1659 ............................................................207 9509.10 Denominator .......................................... 245
1363 1667 ............................................................207 9510.1 Actual value source .........................311, 315
1363 1691 ............................................................206 9511.1 Actual value ............................................. 319
1363 1705 ............................................................206 9512.1 Source control word 0 ..............................311
1814 0394 ............................................................208 9513.1 Layout ...................................................... 312
1814 0408 ............................................................209 9513.10 Bit 0........................................................313
3-wire brake ...........................................................80 9513.11 Bit 1........................................................315
32-bit CPU .............................................................68 9514.1 Data source ............................................. 309
4 kHz operation ......................................................73 9514.14 Data acceptance with sync. ................... 310
5 V encoder supply DWI11A ........................140, 599 9514.16 Configuration error .................................309
8-channel offline scope ..........................................84 9514.17 PDO ID ..................................................310
8-channel online scope ..........................................84 9514.18 Address sender IN buffer 0 ....................310
8325.0 DC link voltage .........................................235 9514.19 Timeout interval .....................................309
8326.0 Output current ..........................................235 9514.2 Message ID..............................................310
8334.0 Actual value digital inputs ........................331 9514.20 Endianess IN buffer 0 ............................ 310
8349.0 Actual value digital outputs ......................331 9514.3 Data block start........................................309
8453.0 Fieldbus baud rate ...................................307 9514.4 Data block length .....................................309
8454.0 Fieldbus address......................................307 9514.5 Update .....................................................309
8537.0 Direction of rotation reversal ....................250 9530.1 Access channel 0 32-bit...........................317
8557.0 Speed monitoring .....................................268 9530.2 - 16 Access channel 1 - 15 32-bit ............ 318
8558.0 / 8560.0 / 9722.3 Speed monitoring 9531.1 System unit channel 0 ............................. 318
delay time.........................................................269 9531.2 - 16 System unit channel 1 - 15 ............... 318

Index
9532.1 - 9532.4 Velocity unit text.........................283 9579.10 Maximum negative velocity....................279

9535.1 Velocity resolution ....................................283 9580.1 Maximum torque ...................................... 279
9536.1 Velocity numerator ...................................284 9582.1 Maximum jerk .......................................... 281
9537.1 Velocity denominator ...............................284 9583.1 Maximum jerk .......................................... 280
9538.1 KTY ..........................................................247 9585.1 Source .....................................................331
9539.1 - 9539.4 Position unit text ........................282 9591.20 – 23 Password for level 40 (set planning
9542.1 Position resolution....................................283 engineer).......................................................... 400
9543.1 Numerator position...................................283 9591.40 – 43 Enter password to set
9544.1 Denominator position ...............................283 current level .....................................................400
9545.1 KTY ..........................................................248 9591.50 Current password level .......................... 400
9546.1 - 9546.4 Acceleration unit text .................284 9593.1 / 9593.2 / 9593.3 Numerator factor.......... 341
9549.1 Acceleration resolution.............................284 9593.10 / 9593.11 / 9593.12 Denominator factor 341
9550.1 Acceleration numerator ............................284 9594.1 Modulo underflow .................................... 282
9551.1 Acceleration denominator ........................284 9594.10 Modulo overflow.....................................281
9552.1 - 9552.4 Torque unit text ..........................285 9595.1 / 9595.2 / 9595.3 Connected to drive no..344
9555.1 Torque resolution .....................................285 9596.1 / 9596.2 / 9596.3 Referenced (encoder status
bit 7)................................................................. 343
9556.1 Torque numerator ....................................285
9597.1 / 9597.2 / 9597.3 Actual speed
9557.1 Torque denominator.................................286
source ......................................................265, 345
9558.1 / 9558.2 / 9558.3 Current limit..................258
9598.1 Velocity setpoint source ...........................350
9559.1 Bit 0 ..........................................................320
9598.10 Local jerk setpoint ..................................351
9559.2 - 16 Bit 1 - 15 ...........................................325
9598.2 Local velocity setpoint..............................350
9560.1 System unit channel 0..............................326
9598.3 Torque limit source ..................................350
9560.2 - 9560.16 System unit channel 1 - 15 ......327
9598.4 Local torque limit setpoint ........................350
9561.1 Actual value high word channel 0 ............327
9598.5 Acceleration source .................................351
9561.2 - 9561.16 Current value high word
9598.6 Local acceleration setpoint ...................... 351
channel 1 - 15 ..................................................327
9598.7 Deceleration source .................................351
9562.1 Actual value low word channel 0..............327
9598.8 Local deceleration setpoint ...................... 351
9562.2 - 9562.16 Current value low word
channel 1 - 15 ..................................................327 9598.9 Jerk source ..............................................351
9563.1 Send PDO after sync. ..............................329 9599.1 Torque setpoint source ............................ 358
9563.16 Config error ............................................328 9599.2 Local setpoint torque ............................... 358
9563.17 Blocking time..........................................329 9599.3 Source velocity limit .................................358
9563.18 PDO ID...................................................330 9599.4 Local velocity limit .................................... 359
9563.19 Send PDO following change of IN buffer330 9599.5 Jerk source ..............................................359
9563.2 Send PDO cyclically.................................329 9599.6 Local jerk .................................................359
9563.21 Endianess ..............................................329 9600.1 Test.......................................................... 382
9563.22 Send PDO after n syncs ........................329 9600.2 Test torque source................................... 384
9563.23 Send PDO following change ..................330 9600.3 Local test torque ...................................... 384
9563.24 Transmission cycle.................................331 9600.4 Speed setpoint source ............................. 383
9563.3 Data sink OUT buffer 0 ............................328 9600.5 Local speed setpoint................................ 384
9563.4 Message ID ..............................................329 9600.6 Test duration............................................ 384
9563.5 Data block start ........................................328 9600.8 Status....................................................... 383
9563.6 Data block length .....................................328 9600.9 Protocol torque ........................................384
9571.1 Maximum acceleration .............................280 9603.1 PDO timeout response ............................ 301
9572.1 Maximum deceleration .............................280 9604.1 Positive speed setpoint............................ 380
9573.1 Maximum acceleration .............................279 9604.17 Lag error window ................................... 381
9574.1 Maximum deceleration .............................279 9604.18 Jog lag error response ...........................381
9576.1 Emergency stop deceleration...................280 9604.2 Negative speed setpoint .......................... 380
9579.1 Maximum positive velocity .......................279 9604.5 Acceleration ............................................. 380

Index
9604.6 Deceleration .............................................381 9625.127 AO1 output voltage ..............................337

9604.7 Jerk ..........................................................381 9625.132 AO2 high word source ......................... 336
9605.1 / 9605.2 / 9605.3 Maximum speed...........264 9625.133 AO2 value source 32 bit ...................... 337
9606.1 / 9606.2 / 9606.3 Rated flow ....................264 9625.134 AO2 scaling to V numerator.................337
9609.1 / 9609.2 / 9609.3 Rated current Iq ...........264 9625.135 AO2 scaling to V denominator ............. 337
9610.1 / 9610.2 / 9610.3 Rated torque ................263 9625.136 AO2 offset............................................ 337
9617.1 Maximum possible output speed..............241 9625.137 AO2 output voltage ..............................337
9617.2 Maximum output current ..........................241 9625.21 Al1 input voltage .................................... 335
9617.6 Rated unit current ....................................241 9625.22 AI1 offset................................................ 335
9619.1 I/O PDO 1 slot ..........................................332 9625.23 AI1 scaling numerator............................ 335
9619.111 PDO source .........................................332 9625.24 AI1 scaling denominator ........................336
9619.121 AO1 low word source ...........................333 9625.25 AI1 scaled value 32 bit...........................336
9619.122 AO1 high word source .........................333 9625.26 AI1 scaled value low word .....................336
9619.123 AO1 value source 32 bit.......................333 9625.27 AI1 scaled value high word ....................336
9619.124 AO1 scaling to V numerator .................334 9625.31 Al2 input voltage .................................... 335
9619.125 AO1 scaling to V denominator .............334 9625.32 AI2 offset................................................ 335
9619.126 AO1 offset ............................................334 9625.33 AI2 scaling numerator............................ 335
9619.127 AO1 output voltage ..............................334 9625.34 AI2 scaling denominator ........................336
9619.131 AO2 low word source ...........................333 9625.35 AI2 scaled value 32 bit...........................336
9619.132 AO2 high word source .........................333 9625.36 AI2 scaled value low word .....................336
9619.133 AO2 value source 32 bit.......................334 9625.37 AI2 scaled value high word ....................336
9619.134 AO2 scaling to V numerator .................334 9626.1 Fault memory pointer............................... 245
9619.135 AO2 scaling to V denominator .............334 9627.1 Fault......................................................... 247
9619.136 AO2 offset ............................................334 9628.1 Inputs ....................................................... 245
9619.137 AO2 output voltage ..............................334 9629.1 Inputs ....................................................... 245
9619.21 Al0 input voltage ....................................332 9629.2 Inputs ....................................................... 245
9619.22 AI0 offset ................................................332 9630.1 Outputs .................................................... 245
9619.23 AI0 scaling numerator ............................332 9631.1 Outputs .................................................... 245
9619.24 AI1 scaling denominator ........................333 9631.2 Outputs .................................................... 245
9619.25 AI1 scaled value 32 bit ...........................333 9632.1 Device status ...........................................248
9619.26 AI1 scaled value low word......................333 9633.1 Output current.......................................... 249
9619.27 AI1 scaled value high word ....................333 9634.1 Active current...........................................249
9619.31 Al1 input voltage ....................................332 9635.1 Device...................................................... 247
9619.32 AI1 offset ................................................332 9636.1 DC link voltage......................................... 247
9619.33 AI1 scaling numerator ............................332 9654.1 Acceleration reference travel ................... 300
9619.34 AI2 scaling denominator ........................333 9654.2 Deceleration reference travel................... 300
9619.36 AI2 scaled value low word......................333 9654.3 Jerk reference travel ................................ 300
9619.37 AI2 scaled value high word ....................333 9654.4 Torque reference travel ...........................300
9622.1 Heat exchanger........................................247 9655.1 Reference dwell time fixed stop............... 300
9623.1 Abs. ..........................................................246 9656.1 Travel to start position ............................. 298
9624.1 Thermal ....................................................247 9657.1 HW limit switch for velocity change ......... 299
9625.1 I/O PDO 2 slot ..........................................335 9658.2 Reference travel type............................... 287
9625.111 PDO source .........................................335 9701.1 - 5 Axis type ............................................. 241
9625.121 AO1 low word source ...........................336 9701.10 Device family ......................................... 241
9625.122 AO1 high word source .........................336 9701.11 Device variant ........................................241
9625.123 AO1 value source 32 bit.......................336 9701.110 Status 1................................................ 244
9625.124 AO1 scaling to V numerator .................337 9701.111 Status 2................................................ 244
9625.125 AO1 scaling to V denominator .............337 9701.113 Status 4................................................ 244
9625.126 AO1 offset ............................................337 9701.114 Status 5................................................ 244

Index
9701.115 Status 6 ................................................244 9716.1 Maximum positive velocity ....................... 280

9701.116 Status 7 ................................................244 9716.10 Maximum negative velocity....................281
9701.117 Status 8 ................................................244 9718.1 / 9718.2 / 9718.3 Speed monitoring reset time
9701.118 Status 9 ................................................244 factor................................................................ 269
9701.125 Option 1 software status ......................244 9719.1 / 9719.2 / 9719.3 Counting direction ........339
9701.126 Option 1 hardware status .....................244 9727.3 Delivery state "d1" ................................... 399
9701.13 Nominal unit current ...............................241 9727.4 Factory setting "d2"..................................399
9701.135 Option 2 software status ......................244 9729.1 Overtemperature response...................... 401
9701.136 Option 2 hardware status .....................244 9729.12 Response Ixt prewarning internal braking
9701.14 Number of input phases .........................241 resistor ............................................................. 403
9701.145 Option 3 software status ......................244 9729.13 / 14 / 15 Software limit switch response 273
9701.146 Option 3 hardware status .....................244 9729.16 Response to external fault .....................302
9701.15 Radio interference suppression 9729.17 Fieldbus timeout response.....................307
on line side.......................................................241 9729.18 Positioning lag error response .......364, 369
9701.155 Option 4 software status ......................244 9729.2 Temperature prewarning response.......... 402
9701.156 Option 4 hardware status .....................245 9729.4 Line phase failure response.....................403
9701.165 Option 5 software status ......................245 9729.5 Ixt prewarning response .......................... 403
9701.166 Option 5 hardware status .....................245 9729.6 / 7 / 8 Hardware limit switch response .....272
9701.17 Standard encoder system ......................241 9729.9 TF / TH / KTY signal response ................ 277
9701.18 Device serial number .............................241 9730.1 Reference offset ...................................... 299
9701.30 Firmware part number basic unit............242 9730.2 Start position............................................ 299
9701.31 Firmware status basic unit .....................242 9730.3 Reference offset modulo.......................... 299
9701.32 Firmware version number basic unit ......242 9731.1 Basic setting velocity reference speed 3 .299
9701.33 DSP firmware part number.....................242 9731.2 Clear velocity reference speed 2 ............. 299
9701.34 DSP firmware status ..............................242 9731.3 Search velocity reference speed 1 .......... 299
9701.35 DSP firmware version number ...............242 9732.1 / 9732.2 / 9732.3 Number of pole pairs ... 263
9701.37 FPGA status...................................242, 243 9733.1 / 9733.2 / 9733.3 Encoder type................ 338
9701.41 Signal electronics ...................................243 9734.1 LI controller ..............................................258
9701.50 Option in slot 1 .......................................243 9737.1 / 9737.2 / 9737.3 Fluss-Zeitkonstante .....264
9701.53 Option in slot 1, firmware part number ...243 9738.1 / 9738.2 / 9738.3 Rotor resistance...........264
9701.54 Option in slot 1, firmware status.............243 9740.4 Maximum torque ...................................... 281
9701.60 Option in slot 2 .......................................243 9744.1 / 9744.2 / 9744.3 Actual position
9701.63 Option in slot 2, firmware part number ...243 source ......................................................265, 345
9701.64 Option in slot 2, firmware status.............244 9746.1 Power off response ..................................404
9701.70 Option in slot 3 .......................................243 9748.1 / 9748.2 / 9748.3 PWM frequency ...........252
9701.73 Option in slot 3, firmware part number ...243 9749.11 / 9749.12 / 9749.13 Encoder monitoring 340
9701.74 Option in slot 3, firmware status.............244 9750.1 Reference to zero pulse...........................298
9702.1 Status display...........................................238 9751.11 / 9751.12 / 9751.13 Machine zero offset344
9702.2 Axis status................................................238 9754.1 - 16 Data word 0 - 15 ............................... 311
9702.3 Current FCB .....................................238, 347 9770.1 Data source word 0..................................331
9702.4 Active parameter set ........................238, 398 9770.2 - 9770.16 Data source word 1 - 15 .......... 331
9702.5 Fault code ................................................240 9782.1 / 9782.2 / 9782.3 Encoder identification .. 344
9702.6 Current FCB instance.......................238, 347 9784.1 Torque .....................................................233
9703.1 Velocity ....................................351, 358, 371 9786.1 Output current.......................................... 234
9704.1 Position ............232, 368, 370, 371, 381, 397 9787.1 Torque current ......................................... 234
9704.2 / 9704.3 / 9704.4 Actual position..............344 9788.1 Magnetization current ..............................234
9705.1 / 9705.2 / 9705.3 KTY sensor motor 9791.1 Torque voltage......................................... 235
utilization ..........................................................276 9792.1 Magnetization voltage ..............................235
9706.1 Output voltage..........................................235 9793.1 Output frequency .....................................234

Index
9795.1 Heat sink temperature..............................236 9852.1 Phase failure detection ............................ 249
9797.1 / 9797.2 / 9797.3 P-gain...........................259 9853.1 Torque current ......................................... 235
9798.1 / 2 / 3 Monitor negative software 9855.1 Magnetization current ..............................235
limit switch........................................................273 9856.1 Layout ...................................................... 320
9800.1 Thermal motor model temperature...........276 9857.1 Reference travel state..............................371
9801.1 / 2 / 3 Monitor positive software limit 9859.1 Thermal current limit ................................ 235
switch ...............................................................273 9861.1 / 9861.2 / 9861.3 Maximum torque .......... 264
9803.1 Local value ...............................................312 9864.1 - 9864.16 Current value word 0 - 15 ........331
9804.1 Select FCB with instance .........................347 9872.1 / 9872.2 / 9872.3 Temperature KTY
9806.1 / 9806.2 / 9806.3 Acceleration sensor ..............................................................275
precontrol gain .................................................260 9872.255 KTY temperature motor ....................... 233
9811.1 Dynamic utilization chip rise.....................236 9873.1 Active factory setting........................238, 399
9811.2 Dynamic utilization chip absolute .............236 9874.1 Thermal motor model motor utilization ....276
9811.3 Electromechanical utilization....................237 9874.255 Motor utilization, maximum KTY model234
9811.4 Heat sink utilization ..................................236 9876.1 Actual value channel 0............................. 318
9811.5 Total utilization .........................................236 9876.2 - 16 Actual value ...................................... 318
9812.1 Rel............................................................246 9877.1 Sync period CAN1 ................................... 305
9813.1 Activate Ixt current reduction....................251 9877.2 Sync offset CAN1 .................................... 305
9816.1 / 9816.2 / 9816.3 Rotor time constant ......265 9877.3 Sync start mode CAN1 ............................ 306
9817.1 Total mass moment of inertia...................262 9877.5 Setpoint cycle CAN1................................ 304
9818.34 / 9818.24 / 9818.20 Encoder part 9878.1 Sync period CAN2 ................................... 305
number/encoder name.....................................338
9878.2 Sync offset CAN2 .................................... 306
9819.1 / 9819.2 / 9819.3 Rated current Id ...........264
9878.3 Sync start mode CAN2 ............................ 306
9820.1 / 9820.2 / 9820.3 Motor type ....................263
9878.5 Setpoint cycle CAN2................................ 305
9821.1 / 9821.2 / 9821.3 Scanning frequency .....259
9879.1 Sync period gateway ............................... 308
9822.1 Source process data channel 0 ...............317
9879.2 Sync offset gateway.................................308
9822.2 -16 Source process data channel 1 .........318
9879.3 Sync start mode gateway ........................308
9823.1 - 5 Device signature .................................242
9880.3 Initial boot loader part number .................242
9824.1 / 2 / 3 Software limit switch monitoring
9880.5 Initial boot loader status...........................242
source ..............................................................273
9881.3 Boot loader part number .......................... 242
9825.1 Scope-ID CAN1 .......................................304
9881.5 Boot loader status.................................... 242
9826.1 / 9826.2 / 9826.3 Voltage limit .................258
9882.1 Synchronization ID CAN2 ........................304
9828.2 / 9828.3 Numerator emulation..................342
9883.1 Synchronization ID CAN1 ........................304
9829.2 / 9829.3 Denominator emulation ..............342
9885.1 Use control bit "feed enable" ................... 362
9831.1 Stop process data ....................................300
9885.2 Control bit "Accept position" ....................362
9833.1 /9833.2 / 9833.3 Brake type .....................267
9885.3 In Position window ................................... 363
9834 Encoder offset P1 - P3 ................................379
9885.4 In position hysteresis ............................... 364
9834.1 / 2 / 3 Encoder offset P1 – P3 ..................396
9885.5 Positioning lag error .................................364
9834.1 / 9834.2 / 9834.3 Encoder offset ..............265
9886.1 - 9949.1 Operating mode......................... 365
9835.1 Time interval between sync signals .........308
9886.10 - 9949.10 Jerk source ............................ 368
9836.1 Synchronization source............................308
9886.11 - 9949.11 Local jerk ............................... 368
9838.1 Acceleration precontrol filter.....................260
9886.12 - 9949.12 Max. positioning velocity
9839.1 Modulo position ........232, 368, 370, 371, 381
negative source ...............................................367
9839.2 / 9839.3 / 9839.4 Actual position modulo .345
9886.13 - 9949.13 Local max. positioning
9841.1 / 9841.2 / 9841.3 Speed setpoint filter .....260 velocity negative ..............................................367
9842.1 Actual speed value filter ...........................260 9886.2 - 9949.2 Positioning setpoint source........366
9843.1 / 9843.2 / 9843.3 P-gain...........................262 9886.3 - 9949.3 Local positioning setpoint .......... 367
9844.1 Local value ...............................................319 9886.4 - 9949.4 Max. positioning velocity positive
9851.1 Source......................................................319 source ..............................................................367

Index
9886.5 - 9949.5 Local. max. positioning velocity 9965.8 Abs. source torque limit Q2 .....................354
positive.............................................................367 9965.9 Abs. local torque limit Q2......................... 355
9886.6 - 9949.6 Max. acceleration source ...........367 9966.1 Setpoint position source .......................... 370
9886.7 - 9949.7 Local max. velocity.....................368 9966.2 Local position setpoint ............................. 370
9886.8 - 9949.8 Max. deceleration source...........368 9966.4 Positioning lag error window ....................370
9886.9 - 9949.9 Local max. deceleration .............368 9970.1 / 9970.2 / 9970.3 Speed precontrol gain.. 259
9950.1 Final fault status .......................................240 9973.1 Power OFF limit value "Uz threshold for rapid
9951.1 Effective minimum torque.........................233 supply system control" .....................................407
9951.2 Effective maximum torque........................233 9977.1 Response error message word 0............. 316
9951.4 Time interval between base periods ........308 9978.1 Response error message word 0............. 316
9961.1 / 2 / 3 Negative software limit switch ........273 9979.1 Error message word source.....................316
9962.1 / 9962.2 / 9962.3 Motor utilization prewarning 9980.1 Speed ...................................................... 232
threshold ..........................................................276 9982.1 Software activation ..................................398
9963.1 Controller setpoint cycle...352, 360, 369, 387 9985.1 Torque .....................................................232
9964.1 Torque setpoint source ............................360 9985.1 Torque user unit...............................359, 361
9964.2 Local torque setpoint................................360 9985.1 User unit torque ....................................... 384
9965.1 Speed setpoint source .............................352 9987.1 / 9987.2 / 9987.3 Maximum current ......... 264
9965.10 Abs. source torque limit Q3....................355 9992.1 Sync jitter compensation CAN1 ............... 307
9965.11 Abs. local torque limit Q3 .......................355 9993.1 Sync jitter compensation CAN2 ............... 307
9965.12 Abs. source torque limit Q4....................355 9994.1 / 9994.2 / 9994.3 Integrator mode ...........261
9965.13 Abs. local torque limit Q4 .......................355 9995.1 / 9995.2 / 9995.3 Integrator initialization.. 262
9965.14 Positive transition speed ........................357 9996.1 / 9996.2 / 9996.3 Local integrator ............ 262
9965.15 Negative transition speed ......................358 9998.1 Position mode .......................................... 342
9965.16 Positive transition mode .........................356 9999.11 / 9999.12 / 9999.13 Relative position of the
9965.17 Negative transition mode .......................357 reference point.................................................342
9965.2 Local speed setpoint ................................352
9965.5 Torque limit mode ....................................353 Symbols
9965.6 Abs. source torque limit Q1......................354 "SEW Workbench" project planning software ........95
9965.7 Abs. local torque limit Q1 .........................354

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System Manual: Moviaxis Multi-Axis Servo Inverter

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Drive Technology \ Drive Automation \ System Integration \ Services

MOVIAXIS® Multi-Axis Servo Inverter

Edition 09/2013 20062540 / EN

System Manual – MOVIAXIS® Multi-Axis Servo Inverter 3

7 Additional system components ..................................................................... 225

4 System Manual – MOVIAXIS® Multi-Axis Servo Inverter

System Manual – MOVIAXIS® Multi-Axis Servo Inverter 5

16 Operation ......................................................................................................... 675

6 System Manual – MOVIAXIS® Multi-Axis Servo Inverter

Description: (page 13) 5

Communication of regenerative modules 7

Supply and regenerative unit: RUN

MXR80 and MXR81 supply

OUT Description: (page 133)

with sine- or block-shaped EtherCAT®-compatible system bus

supply and energy recovery1) XSE24A

Description: (page 17) 10

System Manual – MOVIAXIS® Multi-Axis Servo Inverter 7

XGS11A, XGH11A multi-encoder card

PROFIBUS fieldbus XFP11A

Description: (page 132)

EtherCAT® fieldbus XFE24A

OUT Description: (page 133)

Description: (page 134)

XIO11A, XIA11A input/output module

Description: (page 135)

Gateway and motion control unit Master module variants

PROFIBUS/DeviceNet gateway UFF41B

MXM gateway master module

Description: (page 25)

PROFINET/Ethernet gateway UFR41B

Technical data: (page 123)

Description: (page 51)

MXM motion control master

8 System Manual – MOVIAXIS® Multi-Axis Servo Inverter

Description: (page 28)

Prefabricated motor and encoder

Technical data: (page 165) Technical data: (page 149) 11

System Manual – MOVIAXIS® Multi-Axis Servo Inverter 9

1.2 Additional system and automation components

Single-axis servo inverter

Description: (page 217)

Description: (page 222)

Servo gear units

Technical data: (page 228)

Technical data: (page 228)

10 System Manual – MOVIAXIS® Multi-Axis Servo Inverter

1.3 Benefits and key features of MOVIAXIS® 1

1.3.2 Flexible and adaptable 7

1.3.3 Integrated in the SEW modular system 10

1.3.5 Good software support 18

System Manual – MOVIAXIS® Multi-Axis Servo Inverter 11

1.3.7 Characteristic criteria of MOVIAXIS®

12 System Manual – MOVIAXIS® Multi-Axis Servo Inverter

1.3.8 MXP power supply modules 1

Nominal DC Maximum DC Nominal line

System Manual – MOVIAXIS® Multi-Axis Servo Inverter 13

Scope of delivery • Touch guards

Optional accesso- • Braking resistors

14 System Manual – MOVIAXIS® Multi-Axis Servo Inverter

1.3.9 MXP81 compact power supply module 10 kW 1

Nominal DC Maximum DC Nominal line

System Manual – MOVIAXIS® Multi-Axis Servo Inverter 15